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down.", + "Hold the yellow plastic bottle with white top, shake it briefly.", + "Pick the smooth bottle with rounded edges up with the left arm and shake.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Hold the bottle with white cap and shake it properly.", + "Grab the yellow container with rounded edges using the left arm, then shake.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Use the left arm to grab the bottle with green label and shake properly.", + "Lift the plastic bottle with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with green label and move it to shake.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Lift the plastic bottle with the left arm and shake it.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Pick the yellow plastic bottle with white top up using the left arm and shake it.", + "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.", + "Lift the yellow container with rounded edges and shake it gently.", + "Hold the bottle with green label steady, then shake it.", + "Pick the yellow container with rounded edges, shake it with the left arm.", + "Shake the bottle with white cap after holding it firmly.", + "Use the left arm to lift and shake the bottle with white cap.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Hold and shake the the bottle with a smooth plastic body carefully.", + "Use the left arm to hold the bottle with a smooth plastic body and shake it.", + "Grasp the yellow bottle with the left arm and shake it.", + "Catch the bottle with a smooth plastic body and shake it instantly.", + "Grab and shake the yellow bottle with a green design using the left arm.", + "Shake the yellow bottle after grabbing it.", + "Take the smooth bottle with rounded edges using the left arm and give it a shake.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Grab the rectangular bottle with cylindrical neck with the left arm and shake.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Pick up the yellow container with rounded edges and shake it well.", + "Grip the bottle with green label using the left arm and shake.", + "Grab the yellow container with rounded edges and give it a shake.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Using the left arm, shake the yellow bottle with a green design and then place it back.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Grab the smooth bottle with rounded edges carefully and shake.", + "With the left arm, pick the yellow plastic bottle with white top and shake properly.", + "Secure the yellow bottle and perform a shake.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Shake the the plastic bottle properly after lifting.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Shake the bottle with a smooth plastic body using the left arm after grabbing.", + "Shake the yellow plastic bottle with white top firmly after grabbing.", + "Secure the bottle with white cap, shake it, and place it down.", + "Hold the yellow plastic bottle with white top, shake it briefly.", + "Pick the bottle with green and white labels up with the left arm and shake.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Hold the bottle with green and white labels and shake it properly.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Use the left arm to grab the yellow plastic bottle with white top and shake properly.", + "Lift the smooth bottle with rounded edges with the left arm and shake." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode1.json b/shake_bottle/arx-x5_clean_50/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..81659dc2f2d2bfc4175cffeeaf4c91d1e70a51b3 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the medium rectangular yellow bottle, shake it with the left arm.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Pick the bottle with a smooth plastic body and perform shaking motion.", + "Grab the medium rectangular yellow bottle with the left arm and shake.", + "Grab and shake the yellow bottle with a green design using the left arm.", + "Lift the bottle with green and white labels and shake it gently.", + "Take the medium rectangular yellow bottle using the left arm and give it a shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Grip the bottle with a smooth plastic body using the left arm and shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Grab the yellow bottle and shake it steadily.", + "Use the left arm to grab the bottle with green and white labels and shake properly.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Shake the yellow bottle after lifting it.", + "Grab the smooth bottle with rounded edges and give it a shake.", + "Hold the yellow container with rounded edges and shake it properly.", + "Using the left arm, shake the yellow bottle with a green design and then place it back.", + "Use the left arm to pick and shake the yellow container with rounded edges.", + "Grab the bottle with green label carefully and shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Pick the bottle with green and white labels up using the left arm and shake it.", + "With the left arm, pick the bottle with green and white labels and shake properly.", + "Pick the rectangular bottle with cylindrical neck up with the left arm and shake.", + "Shake the bottle with green label thoroughly after grabbing it.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Hold the rectangular bottle with cylindrical neck with the left arm and shake lightly.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Use the left arm to grab the plastic bottle and shake it.", + "Lift the bottle with white cap with the left arm and shake it.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Lift up the yellow container with rounded edges using the left arm, then shake.", + "Shake the the yellow plastic bottle with white top properly after lifting.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Hold and shake the the bottle with white cap carefully.", + "Lift the yellow container with rounded edges with the left arm and give it a shake.", + "Catch the plastic bottle and shake it instantly.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the yellow container with rounded edges after grabbing it.", + "Utilize the left arm to hold the smooth bottle with rounded edges and shake it.", + "Pick up the yellow container with rounded edges and shake it.", + "Shake the yellow bottle with a green design after holding it firmly.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Lift the yellow bottle with the left arm and shake.", + "Grasp the bottle with green and white labels with the left arm and shake it.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Use the left arm to lift and shake the bottle with white cap.", + "Use the left arm to hold the bottle with green label and shake it.", + "Pick the bottle with white cap, shake it with the left arm.", + "Secure the yellow container with rounded edges and perform a shake.", + "Pick the yellow container with rounded edges and perform shaking motion.", + "Grab the plastic bottle with the left arm and shake.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Lift the bottle with white cap and shake it gently.", + "Take the bottle with green label using the left arm and give it a shake.", + "Shake the bottle with green and white labels using the left arm after grabbing.", + "Grip the bottle with green label using the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Shake the yellow plastic bottle with white top firmly after grabbing.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Hold the bottle with green label steady, then shake it.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Grab the bottle with green label and give it a shake.", + "Hold the smooth bottle with rounded edges and shake it properly.", + "Using the left arm, shake the bottle with white cap and then place it back.", + "Use the left arm to pick and shake the smooth bottle with rounded edges.", + "Grab the bottle with a smooth plastic body carefully and shake.", + "Shake the yellow bottle after grabbing it.", + "Pick the bottle with white cap up using the left arm and shake it.", + "With the left arm, pick the yellow container with rounded edges and shake properly.", + "Pick the bottle with green label up with the left arm and shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Hold the bottle with green and white labels with the left arm and shake lightly.", + "Pick up the medium rectangular yellow bottle and shake it well.", + "Use the left arm to grab the bottle with a smooth plastic body and shake it.", + "Lift the bottle with white cap with the left arm and shake it.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Hold and shake the the smooth bottle with rounded edges carefully.", + "Lift the smooth bottle with rounded edges with the left arm and give it a shake.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Grab the bottle with a smooth plastic body using the left arm, then shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Utilize the left arm to hold the yellow container with rounded edges and shake it.", + "Pick up the bottle with green and white labels and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Grab the rectangular bottle with cylindrical neck and move it to shake.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Lift the yellow bottle with the left arm and shake.", + "Grasp the smooth bottle with rounded edges with the left arm and shake it.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to hold the bottle with white cap and shake it." + ], + "unseen": [ + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode10.json b/shake_bottle/arx-x5_clean_50/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..21db07cb7a23bfc709076e797faafa84e753f415 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the green-capped bottle and shake it well.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "Using the left arm, shake the bottle with green cap and then place it back.", + "Shake the small drink bottle with logo after grabbing it.", + "Grab and shake the small drink bottle with logo using the left arm.", + "Utilize the left arm to hold the green-capped bottle and shake it.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Lift the bottle with green cap and shake it thoroughly.", + "Pick the brown bottle with green screw-on cap up with the left arm and shake.", + "Lift the brown bottle with the left arm and shake it.", + "Grab the green-capped bottle firmly, shake it, and put it down.", + "Grab the hand-sized bottle with grooves using the left arm, then shake.", + "Lift the small brown plastic bottle and shake it gently.", + "Grip the smooth plastic bottle for beverages using the left arm and shake.", + "Grab the brown bottle and move it to shake.", + "Pick the brown bottle with white printed label up using the left arm and shake it.", + "Use the left arm to grab the green-capped bottle and shake properly.", + "Shake the brown bottle with white printed label thoroughly after grabbing it.", + "Use the left arm to lift and shake the plastic bottle with ribbed pattern.", + "Use the left arm to hold the brown bottle with white printed label and shake it.", + "Hold the brown bottle with white printed label steady, then shake it.", + "Take the plastic bottle with ribbed pattern using the left arm and give it a shake.", + "Hold and shake the the bottle with green cap carefully.", + "Use the left arm to grab the brown bottle with green screw-on cap and shake it.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Lift up the brown bottle with white printed label using the left arm, then shake.", + "Hold the brown bottle, shake it briefly.", + "Catch the small drink bottle with logo and shake it instantly.", + "Use the left arm to pick and shake the brown bottle with white printed label.", + "Grab the bottle with green cap and shake it steadily.", + "Pick up the brown bottle and shake it.", + "Hold the smooth plastic bottle for beverages with the left arm and shake lightly.", + "Shake the smooth plastic bottle for beverages using the left arm after grabbing.", + "Pick the bottle with green cap, shake it with the left arm.", + "Use the left arm to lift and shake the green-capped bottle.", + "Shake the the hand-sized bottle with grooves properly after lifting.", + "Pick the brown bottle with white printed label and perform shaking motion.", + "Grab the plastic bottle with ribbed pattern carefully and shake.", + "Shake the brown bottle with white printed label after holding it firmly.", + "Grasp the brown bottle with green screw-on cap with the left arm and shake it.", + "Shake the brown bottle after lifting it.", + "Shake the small drink bottle with logo after grabbing it.", + "Grab the bottle with green cap and give it a shake.", + "Lift the cylindrical bottle with white label with the left arm and give it a shake.", + "Lift the brown bottle with white printed label with the left arm and shake.", + "Shake the cylindrical bottle with white label firmly after grabbing.", + "With the left arm, pick the small drink bottle with logo and shake properly.", + "Secure the small drink bottle with logo, shake it, and place it down.", + "Secure the green-capped bottle and perform a shake.", + "Grab the hand-sized bottle with grooves with the left arm and shake.", + "Pick up the small brown plastic bottle and shake it well.", + "Hold the green-capped bottle and shake it properly.", + "Using the left arm, shake the bottle with green cap and then place it back.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Grab and shake the brown bottle using the left arm.", + "Utilize the left arm to hold the brown bottle with green screw-on cap and shake it.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Lift the cylindrical bottle with white label and shake it thoroughly.", + "Pick the small drink bottle with logo up with the left arm and shake.", + "Lift the brown bottle with the left arm and shake it.", + "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.", + "Grab the hand-sized bottle with grooves using the left arm, then shake.", + "Lift the bottle with green cap and shake it gently.", + "Grip the small brown plastic bottle using the left arm and shake.", + "Grab the smooth plastic bottle for beverages and move it to shake.", + "Pick the brown bottle with green screw-on cap up using the left arm and shake it.", + "Use the left arm to grab the small brown plastic bottle and shake properly.", + "Shake the green-capped bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the plastic bottle with ribbed pattern.", + "Use the left arm to hold the bottle with tapered cylindrical shape and shake it.", + "Hold the green-capped bottle steady, then shake it.", + "Take the bottle with tapered cylindrical shape using the left arm and give it a shake.", + "Hold and shake the the smooth plastic bottle for beverages carefully.", + "Use the left arm to grab the bottle with tapered cylindrical shape and shake it.", + "Shake the brown bottle with white printed label after grabbing it.", + "Lift up the hand-sized bottle with grooves using the left arm, then shake.", + "Hold the plastic bottle with ribbed pattern, shake it briefly.", + "Catch the small brown plastic bottle and shake it instantly.", + "Use the left arm to pick and shake the bottle with tapered cylindrical shape.", + "Grab the smooth plastic bottle for beverages and shake it steadily.", + "Pick up the smooth plastic bottle for beverages and shake it.", + "Hold the cylindrical bottle with white label with the left arm and shake lightly.", + "Shake the brown bottle using the left arm after grabbing.", + "Pick the small brown plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Shake the the plastic bottle with ribbed pattern properly after lifting.", + "Pick the smooth plastic bottle for beverages and perform shaking motion.", + "Grab the green-capped bottle carefully and shake.", + "Shake the green-capped bottle after holding it firmly.", + "Grasp the brown bottle with white printed label with the left arm and shake it.", + "Shake the small drink bottle with logo after lifting it.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Grab the brown bottle with white printed label and give it a shake.", + "Lift the green-capped bottle with the left arm and give it a shake.", + "Lift the bottle with green cap with the left arm and shake.", + "Shake the bottle with green cap firmly after grabbing.", + "With the left arm, pick the smooth plastic bottle for beverages and shake properly.", + "Secure the hand-sized bottle with grooves, shake it, and place it down.", + "Secure the plastic bottle with ribbed pattern and perform a shake.", + "Grab the bottle with green cap with the left arm and shake." + ], + "unseen": [ + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode11.json b/shake_bottle/arx-x5_clean_50/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..537f281494203bd667ac51bab21ee81ed9635b54 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the bottle for liquids with the left arm and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold and shake the the bottle with blue cap carefully.", + "Pick up the white bottle with blue accents and shake it well.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Hold the medium-sized bottle steady, then shake it.", + "Lift the handheld bottle and shake it gently.", + "With the left arm, pick the bottle with blue cap and shake properly.", + "Pick the medium bottle for beverages up with the left arm and shake.", + "Pick the bottle for liquids and perform shaking motion.", + "Secure the medium-sized bottle and perform a shake.", + "Shake the white and blue bottle after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Pick up the medium bottle for beverages and shake it.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Shake the white and blue bottle after lifting it.", + "Grip the bottle for liquids using the left arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Take the white and blue bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the cylindrical bottle.", + "Lift the handheld bottle with the left arm and shake it.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Grab the handheld bottle firmly, shake it, and put it down.", + "Shake the blue bottle with label after grabbing it.", + "Grab the white bottle with blue accents carefully and shake.", + "Use the left arm to lift and shake the blue bottle with label.", + "Grab and shake the medium-sized bottle using the left arm.", + "Lift the white and blue bottle and shake it thoroughly.", + "Hold the medium bottle for beverages and shake it properly.", + "Use the left arm to grab the medium bottle for beverages and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Grab the medium bottle for beverages and move it to shake.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Shake the the bottle for liquids properly after lifting.", + "Lift up the bottle for liquids using the left arm, then shake.", + "Grab the bottle with blue cap and shake it steadily.", + "Lift the white bottle with blue accents with the left arm and shake.", + "Shake the medium-sized bottle firmly after grabbing.", + "Shake the white bottle with blue accents after holding it firmly.", + "Grab the bottle with blue cap using the left arm, then shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Hold the smooth plastic bottle, shake it briefly.", + "Hold the bottle with blue cap with the left arm and shake lightly.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Use the left arm to hold the cylindrical bottle and shake it.", + "Pick the bottle with blue cap up using the left arm and shake it.", + "Grasp the white bottle with blue accents with the left arm and shake it.", + "Secure the bottle with blue cap, shake it, and place it down.", + "Hold and shake the the white bottle with blue accents carefully.", + "Pick up the smooth plastic bottle and shake it well.", + "Lift the medium bottle for beverages with the left arm and give it a shake.", + "Hold the cylindrical bottle steady, then shake it.", + "Lift the cylindrical bottle and shake it gently.", + "With the left arm, pick the cylindrical bottle and shake properly.", + "Pick the plastic bottle up with the left arm and shake.", + "Pick the bottle for liquids and perform shaking motion.", + "Secure the white bottle with blue accents and perform a shake.", + "Shake the white and blue bottle after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Pick up the handheld bottle and shake it.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Shake the blue bottle with label after lifting it.", + "Grip the medium bottle for beverages using the left arm and shake.", + "Grab the blue bottle with label and give it a shake.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Take the white and blue bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Lift the blue bottle with the left arm and shake it.", + "Pick the handheld bottle, shake it with the left arm.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Shake the bottle for liquids after grabbing it.", + "Grab the handheld bottle carefully and shake.", + "Use the left arm to lift and shake the blue bottle with label.", + "Grab and shake the medium bottle for beverages using the left arm.", + "Lift the medium bottle for beverages and shake it thoroughly.", + "Hold the white and blue bottle and shake it properly.", + "Use the left arm to grab the bottle with blue cap and shake it.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Grab the bottle with blue cap and move it to shake.", + "Grab the medium-sized bottle with the left arm and shake.", + "Shake the the white and blue bottle properly after lifting.", + "Lift up the blue bottle with label using the left arm, then shake.", + "Grab the white and blue bottle and shake it steadily.", + "Lift the medium-sized bottle with the left arm and shake.", + "Shake the white bottle with blue accents firmly after grabbing.", + "Shake the handheld bottle after holding it firmly.", + "Grab the blue bottle using the left arm, then shake.", + "Use the left arm to lift and shake the blue bottle.", + "Hold the handheld bottle, shake it briefly.", + "Hold the blue bottle with label with the left arm and shake lightly.", + "Shake the bottle with blue cap using the left arm after grabbing.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Catch the smooth plastic bottle and shake it instantly.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Pick the white bottle with blue accents up using the left arm and shake it." + ], + "unseen": [ + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode12.json b/shake_bottle/arx-x5_clean_50/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..92f18ad1646358e427ec656ba99dd9fe9fd8501f --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with a smooth plastic body up using the right arm and shake it.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Lift the yellow container with rounded edges and shake it gently.", + "Grab the yellow container with rounded edges using the right arm, then shake.", + "Secure the plastic bottle and perform a shake.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Lift the yellow bottle with the right arm and give it a shake.", + "Grasp the medium rectangular yellow bottle with the right arm and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the yellow container with rounded edges, shake it with the right arm.", + "Pick up the bottle with a smooth plastic body and shake it.", + "Hold and shake the the medium rectangular yellow bottle carefully.", + "Shake the bottle with green and white labels after grabbing it.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Hold the yellow container with rounded edges steady, then shake it.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Use the right arm to hold the yellow plastic bottle with white top and shake it.", + "Grab the yellow bottle with the right arm and shake.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Lift the smooth bottle with rounded edges with the right arm and shake.", + "Grab and shake the bottle with white cap using the right arm.", + "Hold the smooth bottle with rounded edges with the right arm and shake lightly.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Grab the bottle with green and white labels and give it a shake.", + "Grip the bottle with a smooth plastic body using the right arm and shake.", + "Use the right arm to grab the bottle with green and white labels and shake it.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Lift the medium rectangular yellow bottle with the right arm and shake it.", + "Shake the bottle with green label after grabbing it.", + "Shake the bottle with white cap after holding it firmly.", + "Use the right arm to grab the medium rectangular yellow bottle and shake properly.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Pick up the yellow container with rounded edges and shake it well.", + "Shake the bottle with green label after lifting it.", + "Grab the yellow container with rounded edges and move it to shake.", + "Use the right arm to lift and shake the bottle with white cap.", + "Take the yellow container with rounded edges using the right arm and give it a shake.", + "Secure the bottle with green label, shake it, and place it down.", + "Hold the bottle with green and white labels and shake it properly.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Use the right arm to pick and shake the yellow bottle with a green design.", + "With the right arm, pick the yellow bottle and shake properly.", + "Pick the yellow bottle up with the right arm and shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Lift up the bottle with green and white labels using the right arm, then shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with green label.", + "Use the right arm to lift and shake the bottle with white cap.", + "Lift the medium rectangular yellow bottle and shake it gently.", + "Grab the smooth bottle with rounded edges using the right arm, then shake.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Catch the yellow bottle and shake it instantly.", + "Lift the bottle with green label and shake it thoroughly.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Pick the yellow bottle, shake it with the right arm.", + "Pick up the smooth bottle with rounded edges and shake it.", + "Hold and shake the the medium rectangular yellow bottle carefully.", + "Shake the yellow bottle after grabbing it.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Using the right arm, shake the smooth bottle with rounded edges and then place it back.", + "Hold the smooth bottle with rounded edges steady, then shake it.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grab the medium rectangular yellow bottle with the right arm and shake.", + "Pick the yellow container with rounded edges and perform shaking motion.", + "Lift the bottle with white cap with the right arm and shake.", + "Grab and shake the yellow bottle with a green design using the right arm.", + "Hold the bottle with green label with the right arm and shake lightly.", + "Shake the the plastic bottle properly after lifting.", + "Utilize the right arm to hold the yellow plastic bottle with white top and shake it.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Grab the bottle with green and white labels and give it a shake.", + "Grip the bottle with green label using the right arm and shake.", + "Use the right arm to grab the medium rectangular yellow bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with green and white labels with the right arm and shake it.", + "Shake the yellow container with rounded edges after grabbing it.", + "Shake the bottle with white cap after holding it firmly.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Pick up the yellow container with rounded edges and shake it well.", + "Shake the bottle with white cap after lifting it.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Take the yellow bottle with a green design using the right arm and give it a shake.", + "Secure the yellow plastic bottle with white top, shake it, and place it down.", + "Hold the bottle with a smooth plastic body and shake it properly.", + "Grab the bottle with white cap and shake it steadily.", + "Use the right arm to pick and shake the yellow container with rounded edges.", + "With the right arm, pick the bottle with a smooth plastic body and shake properly.", + "Pick the smooth bottle with rounded edges up with the right arm and shake.", + "Shake the bottle with a smooth plastic body using the right arm after grabbing.", + "Lift up the yellow bottle using the right arm, then shake." + ], + "unseen": [ + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode13.json b/shake_bottle/arx-x5_clean_50/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..192cb0f7abb7c1101bad9cce5159fd3b3182bf1f --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the bottle with green cap with the left arm and shake it.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Grip the smooth brown bottle with green label using the left arm and shake.", + "Shake the brown bottle after grabbing it.", + "Use the left arm to lift and shake the smooth plastic bottle with white cap.", + "Lift the medium bottle with glossy surface with the left arm and shake it.", + "Lift the rectangular brown body with white top with the left arm and shake.", + "Pick the rectangular brown body with white top up using the left arm and shake it.", + "Grab and shake the rectangular-shaped bottle with round cap using the left arm.", + "Hold the rectangular brown body with white top with the left arm and shake lightly.", + "Grab the rectangular-shaped bottle with round cap and shake it steadily.", + "Grab the smooth brown bottle with green label firmly, shake it, and put it down.", + "Hold and shake the the brown bottle carefully.", + "Shake the medium-sized brown plastic bottle firmly after grabbing.", + "Pick the brown bottle with rounded rectangular shape and perform shaking motion.", + "Use the left arm to grab the brown bottle and shake it.", + "Shake the brown bottle with rounded rectangular shape after lifting it.", + "With the left arm, pick the bottle with flat sides and logo and shake properly.", + "Using the left arm, shake the bottle with green cap and then place it back.", + "Pick up the dark brown bottle with a squared body and shake it.", + "Use the left arm to lift and shake the smooth plastic bottle with white cap.", + "Utilize the left arm to hold the bottle with flat sides and logo and shake it.", + "Pick up the bottle with flat sides and logo and shake it well.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Secure the smooth brown bottle with green label, shake it, and place it down.", + "Lift the rectangular-shaped bottle with round cap and shake it thoroughly.", + "Grab the rectangular-shaped bottle with round cap with the left arm and shake.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake properly.", + "Pick the brown bottle with rounded rectangular shape, shake it with the left arm.", + "Hold the brown bottle with rounded rectangular shape and shake it properly.", + "Lift up the medium bottle with glossy surface using the left arm, then shake.", + "Shake the brown bottle using the left arm after grabbing.", + "Take the brown bottle using the left arm and give it a shake.", + "Shake the the rectangular-shaped bottle with round cap properly after lifting.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the smooth plastic bottle with white cap using the left arm, then shake.", + "Grab the smooth plastic bottle with white cap carefully and shake.", + "Shake the medium-sized brown plastic bottle after holding it firmly.", + "Lift the brown bottle with rounded rectangular shape with the left arm and give it a shake.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Lift the bottle with green cap and shake it gently.", + "Grab the smooth brown bottle with green label and move it to shake.", + "Grab the smooth brown bottle with green label and give it a shake.", + "Hold the smooth brown bottle with green label, shake it briefly.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Use the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Pick the smooth brown bottle with green label up with the left arm and shake.", + "Grasp the brown bottle with the left arm and shake it.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Grip the dark brown bottle with a squared body using the left arm and shake.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Lift the rectangular brown body with white top with the left arm and shake it.", + "Lift the medium bottle with glossy surface with the left arm and shake.", + "Pick the smooth plastic bottle with white cap up using the left arm and shake it.", + "Grab and shake the bottle with flat sides and logo using the left arm.", + "Hold the medium-sized brown plastic bottle with the left arm and shake lightly.", + "Grab the smooth brown bottle with green label and shake it steadily.", + "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.", + "Hold and shake the the brown bottle carefully.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to grab the smooth brown bottle with green label and shake it.", + "Shake the medium bottle with glossy surface after lifting it.", + "With the left arm, pick the rectangular-shaped bottle with round cap and shake properly.", + "Using the left arm, shake the brown bottle and then place it back.", + "Pick up the brown bottle with rounded rectangular shape and shake it.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Utilize the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Pick up the bottle with green cap and shake it well.", + "Shake the medium bottle with glossy surface thoroughly after grabbing it.", + "Secure the dark brown bottle with a squared body, shake it, and place it down.", + "Lift the dark brown bottle with a squared body and shake it thoroughly.", + "Grab the dark brown bottle with a squared body with the left arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Use the left arm to grab the bottle with green cap and shake properly.", + "Pick the rectangular brown body with white top, shake it with the left arm.", + "Hold the medium-sized brown plastic bottle and shake it properly.", + "Lift up the medium bottle with glossy surface using the left arm, then shake.", + "Shake the brown bottle with rounded rectangular shape using the left arm after grabbing.", + "Take the medium bottle with glossy surface using the left arm and give it a shake.", + "Shake the the smooth plastic bottle with white cap properly after lifting.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Use the left arm to pick and shake the rectangular brown body with white top.", + "Grab the bottle with green cap using the left arm, then shake.", + "Grab the medium-sized brown plastic bottle carefully and shake.", + "Shake the medium-sized brown plastic bottle after holding it firmly.", + "Lift the brown bottle with rounded rectangular shape with the left arm and give it a shake.", + "Secure the bottle with green cap and perform a shake.", + "Lift the smooth plastic bottle with white cap and shake it gently.", + "Grab the rectangular brown body with white top and move it to shake.", + "Grab the plastic bottle and give it a shake.", + "Hold the plastic bottle, shake it briefly.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Hold the bottle with flat sides and logo steady, then shake it.", + "Use the left arm to hold the medium bottle with glossy surface and shake it.", + "Pick the smooth brown bottle with green label up with the left arm and shake." + ], + "unseen": [ + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode14.json b/shake_bottle/arx-x5_clean_50/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..e6042609363c15178584cd91bf45878a6a6b2821 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Use the left arm to lift and shake the bottle with printed label.", + "Secure the bottle for liquids and perform a shake.", + "Grab the yellow-capped plastic bottle using the left arm, then shake.", + "Grab the bottle with printed label and give it a shake.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Hold the bottle with yellow cap, shake it briefly.", + "Shake the orange bottle after lifting it.", + "Utilize the left arm to hold the yellow-capped plastic bottle and shake it.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Using the left arm, shake the bottle with narrow neck and then place it back.", + "Catch the plastic bottle with sealed yellow cap and shake it instantly.", + "Pick the medium-sized orange bottle, shake it with the left arm.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Lift up the medium-sized orange bottle using the left arm, then shake.", + "Use the left arm to grab the cylindrical orange bottle with yellow top and shake properly.", + "Lift the smooth plastic bottle and shake it gently.", + "Use the left arm to grab the orange cylindrical bottle and shake it.", + "Pick the yellow-capped plastic bottle up using the left arm and shake it.", + "Shake the orange cylindrical bottle after holding it firmly.", + "Use the left arm to hold the bottle with printed label and shake it.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.", + "Lift the orange cylindrical bottle with the left arm and give it a shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Pick the orange cylindrical bottle up with the left arm and shake.", + "Grab the bottle with yellow cap and move it to shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Hold the plastic bottle and shake it properly.", + "Pick up the bottle with printed label and shake it.", + "With the left arm, pick the bottle with narrow neck and shake properly.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Grip the plastic bottle with sealed yellow cap using the left arm and shake.", + "Grab the orange bottle carefully and shake.", + "Use the left arm to pick and shake the yellow-capped plastic bottle.", + "Shake the cylindrical orange bottle with yellow top using the left arm after grabbing.", + "Grab the orange cylindrical bottle with the left arm and shake.", + "Grasp the orange cylindrical bottle with the left arm and shake it.", + "Shake the bottle with yellow cap after grabbing it.", + "Lift the bottle with narrow neck with the left arm and shake it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle for liquids.", + "Hold and shake the the orange cylindrical bottle carefully.", + "Shake the the bottle with printed label properly after lifting.", + "Grab and shake the bottle with printed label using the left arm.", + "Hold the orange bottle steady, then shake it.", + "Shake the cylindrical orange bottle with yellow top firmly after grabbing.", + "Use the left arm to lift and shake the bottle with narrow neck.", + "Secure the orange bottle and perform a shake.", + "Grab the yellow-capped plastic bottle using the left arm, then shake.", + "Grab the plastic bottle with sealed yellow cap and give it a shake.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Hold the bottle with printed label, shake it briefly.", + "Shake the bottle for liquids after lifting it.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Lift the plastic bottle with sealed yellow cap with the left arm and shake.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Catch the bottle with yellow cap and shake it instantly.", + "Pick the bottle with printed label, shake it with the left arm.", + "Grab the bottle for liquids and shake it steadily.", + "Lift up the medium-sized orange bottle using the left arm, then shake.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Lift the smooth plastic bottle and shake it gently.", + "Use the left arm to grab the orange cylindrical bottle and shake it.", + "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.", + "Shake the bottle with narrow neck after holding it firmly.", + "Use the left arm to hold the orange cylindrical bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Hold the bottle with yellow cap with the left arm and shake lightly.", + "Grab the plastic bottle with sealed yellow cap firmly, shake it, and put it down.", + "Lift the yellow-capped plastic bottle with the left arm and give it a shake.", + "Take the orange bottle using the left arm and give it a shake.", + "Pick the bottle with yellow cap up with the left arm and shake.", + "Grab the orange bottle and move it to shake.", + "Pick up the orange cylindrical bottle and shake it well.", + "Hold the bottle with narrow neck and shake it properly.", + "Pick up the cylindrical orange bottle with yellow top and shake it.", + "With the left arm, pick the yellow-capped plastic bottle and shake properly.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Grip the bottle with yellow cap using the left arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to pick and shake the bottle with narrow neck.", + "Shake the orange cylindrical bottle using the left arm after grabbing.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Grasp the orange bottle with the left arm and shake it.", + "Shake the orange cylindrical bottle after grabbing it.", + "Lift the bottle for liquids with the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the bottle with printed label after grabbing it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the yellow-capped plastic bottle.", + "Hold and shake the the cylindrical orange bottle with yellow top carefully.", + "Shake the the bottle with yellow cap properly after lifting.", + "Grab and shake the yellow-capped plastic bottle using the left arm.", + "Hold the bottle for liquids steady, then shake it." + ], + "unseen": [ + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode15.json b/shake_bottle/arx-x5_clean_50/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..fafdd135310060a4d21336827cbf3c24f9dc42f2 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the orange cylindrical bottle using the right arm, then shake.", + "Use the right arm to grab the bottle with narrow neck and shake properly.", + "Take the plastic bottle with sealed yellow cap using the right arm and give it a shake.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Pick the bottle for liquids, shake it with the right arm.", + "Shake the orange cylindrical bottle after grabbing it.", + "Shake the medium-sized orange bottle after grabbing it.", + "Grasp the orange cylindrical bottle with the right arm and shake it.", + "Shake the the bottle with narrow neck properly after lifting.", + "Secure the medium-sized orange bottle and perform a shake.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Grab the plastic bottle with sealed yellow cap and shake it steadily.", + "Use the right arm to grab the bottle with printed label and shake it.", + "Hold the orange bottle, shake it briefly.", + "Grab the bottle with printed label and move it to shake.", + "Grab the yellow-capped plastic bottle carefully and shake.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Hold the orange cylindrical bottle and shake it properly.", + "Pick up the plastic bottle and shake it.", + "Shake the orange bottle after lifting it.", + "Pick the medium-sized orange bottle up with the right arm and shake.", + "Hold and shake the the orange bottle carefully.", + "Hold the bottle for liquids with the right arm and shake lightly.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Lift the orange cylindrical bottle with the right arm and shake.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Pick the medium-sized orange bottle and perform shaking motion.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Lift the bottle with yellow cap and shake it gently.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Catch the bottle with yellow cap and shake it instantly.", + "Shake the bottle with narrow neck after holding it firmly.", + "Shake the bottle for liquids after grabbing it.", + "Pick up the cylindrical orange bottle with yellow top and shake it well.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Lift the plastic bottle with sealed yellow cap with the right arm and give it a shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Secure the bottle for liquids, shake it, and place it down.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Using the right arm, shake the orange bottle and then place it back.", + "Hold the bottle with printed label steady, then shake it.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Grab the yellow-capped plastic bottle using the right arm, then shake.", + "Utilize the right arm to hold the bottle for liquids and shake it.", + "Grab the bottle for liquids and give it a shake.", + "Grab the medium-sized orange bottle with the right arm and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Take the bottle for liquids using the right arm and give it a shake.", + "With the right arm, pick the plastic bottle with sealed yellow cap and shake properly.", + "Pick the medium-sized orange bottle, shake it with the right arm.", + "Shake the orange cylindrical bottle after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Grasp the orange bottle with the right arm and shake it.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Secure the orange cylindrical bottle and perform a shake.", + "Shake the bottle with yellow cap using the right arm after grabbing.", + "Grab the bottle with printed label and shake it steadily.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Hold the orange bottle, shake it briefly.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Grab the bottle for liquids carefully and shake.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Hold the plastic bottle and shake it properly.", + "Pick up the plastic bottle and shake it.", + "Shake the bottle with narrow neck after lifting it.", + "Pick the bottle with printed label up with the right arm and shake.", + "Hold and shake the the bottle with narrow neck carefully.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Use the right arm to pick and shake the bottle with yellow cap.", + "Grab and shake the plastic bottle with sealed yellow cap using the right arm.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake.", + "Grip the plastic bottle with sealed yellow cap using the right arm and shake.", + "Pick the orange cylindrical bottle and perform shaking motion.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Lift the orange cylindrical bottle and shake it gently.", + "Use the right arm to lift and shake the orange bottle.", + "Catch the bottle with yellow cap and shake it instantly.", + "Shake the bottle for liquids after holding it firmly.", + "Shake the orange bottle after grabbing it.", + "Pick up the bottle with narrow neck and shake it well.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Grab the bottle with printed label firmly, shake it, and put it down.", + "Pick the medium-sized orange bottle up using the right arm and shake it.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Lift the bottle with narrow neck with the right arm and shake it.", + "Using the right arm, shake the bottle with printed label and then place it back.", + "Hold the plastic bottle steady, then shake it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Utilize the right arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Grab the plastic bottle and give it a shake.", + "Grab the bottle for liquids with the right arm and shake." + ], + "unseen": [ + "Grab the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode16.json b/shake_bottle/arx-x5_clean_50/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf458a1c12bac7b53aa5f7f04ba5aea47f0daf1 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with tapered cylindrical shape with the left arm and give it a shake.", + "Shake the brown bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Pick up the hand-sized bottle with grooves and shake it well.", + "Shake the green-capped bottle after grabbing it.", + "Hold the green-capped bottle with the left arm and shake lightly.", + "Grab the bottle with green cap firmly, shake it, and put it down.", + "Shake the the small brown plastic bottle properly after lifting.", + "Grab the smooth plastic bottle for beverages using the left arm, then shake.", + "Grab the green-capped bottle and shake it steadily.", + "Pick the small brown plastic bottle up using the left arm and shake it.", + "Hold the brown bottle steady, then shake it.", + "Grip the brown bottle using the left arm and shake.", + "Use the left arm to hold the hand-sized bottle with grooves and shake it.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Hold the hand-sized bottle with grooves, shake it briefly.", + "Use the left arm to grab the hand-sized bottle with grooves and shake it.", + "Shake the brown bottle with white printed label firmly after grabbing.", + "Grab and shake the plastic bottle with ribbed pattern using the left arm.", + "Secure the small brown plastic bottle and perform a shake.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Grab the brown bottle carefully and shake.", + "Lift up the small drink bottle with logo using the left arm, then shake.", + "Hold and shake the the bottle with tapered cylindrical shape carefully.", + "Shake the cylindrical bottle with white label thoroughly after grabbing it.", + "With the left arm, pick the smooth plastic bottle for beverages and shake properly.", + "Using the left arm, shake the bottle with tapered cylindrical shape and then place it back.", + "Grab the smooth plastic bottle for beverages and give it a shake.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Take the bottle with green cap using the left arm and give it a shake.", + "Grasp the plastic bottle with ribbed pattern with the left arm and shake it.", + "Shake the cylindrical bottle with white label after lifting it.", + "Grab the brown bottle with white printed label and move it to shake.", + "Utilize the left arm to hold the cylindrical bottle with white label and shake it.", + "Use the left arm to grab the small drink bottle with logo and shake properly.", + "Use the left arm to pick and shake the small brown plastic bottle.", + "Grab the small drink bottle with logo with the left arm and shake.", + "Shake the brown bottle with white printed label after grabbing it.", + "Lift the plastic bottle with ribbed pattern and shake it thoroughly.", + "Pick the smooth plastic bottle for beverages, shake it with the left arm.", + "Secure the brown bottle, shake it, and place it down.", + "Pick the small brown plastic bottle and perform shaking motion.", + "Lift the brown bottle with green screw-on cap and shake it gently.", + "Lift the brown bottle with the left arm and shake it.", + "Hold the plastic bottle with ribbed pattern and shake it properly.", + "Lift the cylindrical bottle with white label with the left arm and shake.", + "Shake the small drink bottle with logo after holding it firmly.", + "Pick the brown bottle with green screw-on cap up with the left arm and shake.", + "Catch the bottle with tapered cylindrical shape and shake it instantly.", + "Lift the green-capped bottle with the left arm and give it a shake.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Pick up the cylindrical bottle with white label and shake it well.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Hold the hand-sized bottle with grooves with the left arm and shake lightly.", + "Grab the small brown plastic bottle firmly, shake it, and put it down.", + "Shake the the cylindrical bottle with white label properly after lifting.", + "Grab the small drink bottle with logo using the left arm, then shake.", + "Grab the cylindrical bottle with white label and shake it steadily.", + "Pick the cylindrical bottle with white label up using the left arm and shake it.", + "Hold the smooth plastic bottle for beverages steady, then shake it.", + "Grip the smooth plastic bottle for beverages using the left arm and shake.", + "Use the left arm to hold the brown bottle and shake it.", + "Pick up the brown bottle with white printed label and shake it.", + "Hold the smooth plastic bottle for beverages, shake it briefly.", + "Use the left arm to grab the bottle with green cap and shake it.", + "Shake the plastic bottle with ribbed pattern firmly after grabbing.", + "Grab and shake the green-capped bottle using the left arm.", + "Secure the brown bottle with green screw-on cap and perform a shake.", + "Use the left arm to lift and shake the green-capped bottle.", + "Grab the small drink bottle with logo carefully and shake.", + "Lift up the small brown plastic bottle using the left arm, then shake.", + "Hold and shake the the small drink bottle with logo carefully.", + "Shake the smooth plastic bottle for beverages thoroughly after grabbing it.", + "With the left arm, pick the brown bottle and shake properly.", + "Using the left arm, shake the smooth plastic bottle for beverages and then place it back.", + "Grab the cylindrical bottle with white label and give it a shake.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Shake the hand-sized bottle with grooves using the left arm after grabbing.", + "Take the bottle with tapered cylindrical shape using the left arm and give it a shake.", + "Grasp the small drink bottle with logo with the left arm and shake it.", + "Shake the brown bottle after lifting it.", + "Grab the smooth plastic bottle for beverages and move it to shake.", + "Utilize the left arm to hold the small drink bottle with logo and shake it.", + "Use the left arm to grab the smooth plastic bottle for beverages and shake properly.", + "Use the left arm to pick and shake the plastic bottle with ribbed pattern.", + "Grab the brown bottle with white printed label with the left arm and shake.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Pick the small brown plastic bottle, shake it with the left arm.", + "Secure the green-capped bottle, shake it, and place it down.", + "Pick the green-capped bottle and perform shaking motion.", + "Lift the cylindrical bottle with white label and shake it gently.", + "Lift the bottle with tapered cylindrical shape with the left arm and shake it.", + "Hold the small drink bottle with logo and shake it properly.", + "Lift the small brown plastic bottle with the left arm and shake.", + "Shake the brown bottle with white printed label after holding it firmly.", + "Pick the brown bottle up with the left arm and shake.", + "Catch the cylindrical bottle with white label and shake it instantly." + ], + "unseen": [ + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode17.json b/shake_bottle/arx-x5_clean_50/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..b3cd09faf0a3248ce7bac454f2fac5c4683878a3 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the long thin bottle and shake it steadily.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the red-capped bottle carefully and shake.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the dark drink bottle with logo and shake it gently.", + "Hold and shake the the long thin bottle carefully.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grab the dark drink bottle with logo and give it a shake.", + "Lift the red-capped bottle and shake it thoroughly.", + "Shake the narrow-necked bottle after holding it firmly.", + "Pick the long thin bottle, shake it with the right arm.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Pick the long thin bottle up using the right arm and shake it.", + "Pick up the red-capped bottle and shake it.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Grab the long thin bottle using the right arm, then shake.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Pick up the long thin bottle and shake it well.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the plastic drink bottle firmly after grabbing.", + "Catch the brown bottle with red label and shake it instantly.", + "Shake the dark drink bottle with logo after lifting it.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Grab the bottle with white neck and red top and move it to shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the red-capped bottle.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Shake the the plastic drink bottle properly after lifting.", + "Grab the red-capped bottle and shake it steadily.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grab the narrow-necked bottle carefully and shake.", + "Grab and shake the plastic drink bottle using the right arm.", + "Hold the long thin bottle, shake it briefly.", + "Secure the dark drink bottle with logo and perform a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the plastic drink bottle and shake it gently.", + "Hold and shake the the plastic drink bottle carefully.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grab the brown bottle with red label and give it a shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Pick up the smooth bottle with red lid and shake it.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Shake the narrow-necked bottle after lifting it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Grab the plastic drink bottle and move it to shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Grip the brown bottle with red label using the right arm and shake.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Lift the plastic drink bottle with the right arm and shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Shake the the long thin bottle properly after lifting." + ], + "unseen": [ + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode18.json b/shake_bottle/arx-x5_clean_50/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..db6c2bd08359b5e362523560aa19e773319952f6 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium bottle with smooth texture and shake it steadily.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Grab the bottle with dark brown color and move it to shake.", + "Pick the smooth brown bottle, shake it with the right arm.", + "Pick the cylindrical bottle with narrow neck up using the right arm and shake it.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Grip the cylindrical bottle with narrow neck using the right arm and shake.", + "Grab the plastic bottle for liquids using the right arm, then shake.", + "Grab the white-capped brown cylindrical bottle with the right arm and shake.", + "Shake the medium plastic bottle using the right arm after grabbing.", + "Shake the medium plastic bottle after grabbing it.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake it.", + "Pick up the plastic bottle for liquids and shake it.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Shake the the medium plastic bottle properly after lifting.", + "Use the right arm to lift and shake the bottle with white cap.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Grasp the rounded bottle with printed details with the right arm and shake it.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Hold the medium plastic bottle, shake it briefly.", + "Utilize the right arm to hold the bottle with white cap and shake it.", + "Hold the cylindrical bottle with narrow neck and shake it properly.", + "With the right arm, pick the bottle with dark brown color and shake properly.", + "Grab and shake the bottle with brown body and white top using the right arm.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.", + "Lift up the bottle with dark brown color using the right arm, then shake.", + "Use the right arm to pick and shake the plastic bottle for liquids.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Lift the smooth brown bottle and shake it gently.", + "Shake the cylindrical bottle with narrow neck after lifting it.", + "Hold the medium bottle with smooth texture with the right arm and shake lightly.", + "Using the right arm, shake the white-capped brown cylindrical bottle and then place it back.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Shake the bottle with white cap after holding it firmly.", + "Use the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Take the medium plastic bottle using the right arm and give it a shake.", + "Secure the cylindrical bottle with narrow neck and perform a shake.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake it.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Secure the medium plastic bottle, shake it, and place it down.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Hold and shake the the bottle with dark brown color carefully.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Grab the medium bottle with smooth texture and give it a shake.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Pick the bottle with dark brown color up with the right arm and shake.", + "Grab the smooth brown bottle and shake it steadily.", + "Use the right arm to grab the handheld brown bottle with white lid and shake properly.", + "Grab the plastic bottle with printed label and move it to shake.", + "Pick the white-capped brown cylindrical bottle, shake it with the right arm.", + "Pick the smooth brown bottle up using the right arm and shake it.", + "Shake the rounded bottle with printed details firmly after grabbing.", + "Grip the handheld brown bottle with white lid using the right arm and shake.", + "Grab the bottle with white cap using the right arm, then shake.", + "Grab the smooth brown bottle with the right arm and shake.", + "Shake the bottle with brown body and white top using the right arm after grabbing.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Lift the bottle with dark brown color with the right arm and shake it.", + "Pick up the smooth brown bottle and shake it.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "Grasp the plastic bottle for liquids with the right arm and shake it.", + "Pick up the bottle with brown body and white top and shake it well.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Utilize the right arm to hold the plastic bottle with printed label and shake it.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "With the right arm, pick the smooth brown bottle and shake properly.", + "Grab and shake the plastic bottle for liquids using the right arm.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Lift the rounded bottle with printed details with the right arm and give it a shake.", + "Lift up the medium plastic bottle using the right arm, then shake.", + "Use the right arm to pick and shake the white-capped brown cylindrical bottle.", + "Catch the medium bottle with smooth texture and shake it instantly.", + "Lift the white-capped brown cylindrical bottle and shake it gently.", + "Shake the cylindrical bottle with narrow neck after lifting it.", + "Hold the bottle with brown body and white top with the right arm and shake lightly.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Use the right arm to hold the rounded bottle with printed details and shake it.", + "Take the cylindrical bottle with narrow neck using the right arm and give it a shake.", + "Secure the plastic bottle with printed label and perform a shake.", + "Use the right arm to grab the plastic bottle for liquids and shake it.", + "Shake the plastic bottle with printed label after grabbing it.", + "Secure the bottle with white cap, shake it, and place it down.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Hold and shake the the rounded bottle with printed details carefully.", + "Lift the bottle with brown body and white top with the right arm and shake.", + "Grab the plastic bottle for liquids carefully and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Use the right arm to lift and shake the bottle with white cap.", + "Pick the medium bottle with smooth texture up with the right arm and shake." + ], + "unseen": [ + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode19.json b/shake_bottle/arx-x5_clean_50/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..e99e876334719218ec1ec3234879ad47c735f0aa --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the plastic drink bottle after holding it firmly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Pick up the narrow-necked bottle and shake it.", + "Shake the long thin bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Lift the medium dark brown bottle and shake it gently.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Lift the brown bottle with red label with the left arm and shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Hold the narrow-necked bottle and shake it properly.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Catch the brown bottle with red label and shake it instantly.", + "Shake the red-capped bottle after grabbing it.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Hold the narrow-necked bottle steady, then shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Shake the plastic drink bottle after lifting it.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Grab the plastic drink bottle carefully and shake.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grab the smooth bottle with red lid and move it to shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Lift the long thin bottle and shake it thoroughly.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Grip the brown bottle with red label using the left arm and shake.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Shake the long thin bottle after holding it firmly.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Pick up the bottle with ridges on bottom and shake it.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the red-capped bottle and give it a shake.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Lift the plastic drink bottle and shake it gently.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Shake the red-capped bottle after grabbing it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab the plastic drink bottle with the left arm and shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Secure the plastic drink bottle and perform a shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Catch the long thin bottle and shake it instantly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grasp the long thin bottle with the left arm and shake it.", + "Pick up the brown bottle with red label and shake it well.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Hold the red-capped bottle steady, then shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Shake the narrow-necked bottle after lifting it.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Grab the brown bottle with red label carefully and shake.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grip the red-capped bottle using the left arm and shake.", + "Grab and shake the brown bottle with red label using the left arm.", + "Grab the smooth bottle with red lid using the left arm, then shake." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode2.json b/shake_bottle/arx-x5_clean_50/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..bece508f1373e64a4acec03689541e92f79c3f92 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the medium bottle with smooth texture using the left arm.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Use the left arm to lift and shake the bottle with white cap.", + "Grab the bottle with dark brown color using the left arm, then shake.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Grab the bottle with dark brown color and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick the medium bottle with smooth texture up using the left arm and shake it.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Grip the bottle with dark brown color using the left arm and shake.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grab the bottle with white cap and shake it steadily.", + "Grab the bottle with dark brown color and move it to shake.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Utilize the left arm to hold the rounded bottle with printed details and shake it.", + "Lift the white-capped brown cylindrical bottle and shake it gently.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "Lift the plastic bottle for liquids with the left arm and shake.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "With the left arm, pick the bottle with dark brown color and shake properly.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Use the left arm to grab the plastic bottle for liquids and shake it.", + "Lift the handheld brown bottle with white lid with the left arm and give it a shake.", + "Shake the bottle with dark brown color firmly after grabbing.", + "Grab the cylindrical bottle with narrow neck with the left arm and shake.", + "Pick up the smooth brown bottle and shake it well.", + "Shake the bottle with brown body and white top after lifting it.", + "Use the left arm to pick and shake the white-capped brown cylindrical bottle.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Hold the smooth brown bottle steady, then shake it.", + "Grab the medium bottle with smooth texture carefully and shake.", + "Pick the smooth brown bottle up with the left arm and shake.", + "Lift the smooth brown bottle with the left arm and shake it.", + "Hold and shake the the plastic bottle with printed label carefully.", + "Take the plastic bottle with printed label using the left arm and give it a shake.", + "Shake the white-capped brown cylindrical bottle after holding it firmly.", + "Secure the plastic bottle with printed label and perform a shake.", + "Catch the bottle with brown body and white top and shake it instantly.", + "Shake the smooth brown bottle after grabbing it.", + "Lift up the bottle with dark brown color using the left arm, then shake.", + "Hold the medium plastic bottle with the left arm and shake lightly.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Use the left arm to hold the smooth brown bottle and shake it.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Shake the the smooth brown bottle properly after lifting.", + "Hold the bottle with dark brown color and shake it properly.", + "Shake the smooth brown bottle after grabbing it.", + "Shake the bottle with brown body and white top using the left arm after grabbing.", + "Shake the rounded bottle with printed details thoroughly after grabbing it.", + "Grab and shake the rounded bottle with printed details using the left arm.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Grab the medium bottle with smooth texture using the left arm, then shake.", + "Using the left arm, shake the medium bottle with smooth texture and then place it back.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Pick the bottle with dark brown color up using the left arm and shake it.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Grip the medium bottle with smooth texture using the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Grab the medium plastic bottle and shake it steadily.", + "Grab the rounded bottle with printed details and move it to shake.", + "Pick the bottle with dark brown color and perform shaking motion.", + "Utilize the left arm to hold the rounded bottle with printed details and shake it.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "Lift the handheld brown bottle with white lid with the left arm and shake.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "With the left arm, pick the bottle with brown body and white top and shake properly.", + "Pick the bottle with brown body and white top, shake it with the left arm.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake it.", + "Lift the handheld brown bottle with white lid with the left arm and give it a shake.", + "Shake the bottle with white cap firmly after grabbing.", + "Grab the cylindrical bottle with narrow neck with the left arm and shake.", + "Pick up the rounded bottle with printed details and shake it well.", + "Shake the smooth brown bottle after lifting it.", + "Use the left arm to pick and shake the rounded bottle with printed details.", + "Use the left arm to grab the medium bottle with smooth texture and shake properly.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Pick the bottle with dark brown color up with the left arm and shake.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake it.", + "Hold and shake the the bottle with brown body and white top carefully.", + "Take the smooth brown bottle using the left arm and give it a shake.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Secure the plastic bottle with printed label and perform a shake.", + "Catch the smooth brown bottle and shake it instantly.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Lift up the rounded bottle with printed details using the left arm, then shake.", + "Hold the bottle with dark brown color with the left arm and shake lightly.", + "Secure the bottle with dark brown color, shake it, and place it down.", + "Use the left arm to hold the medium bottle with smooth texture and shake it.", + "Grab the smooth brown bottle firmly, shake it, and put it down.", + "Shake the the medium plastic bottle properly after lifting.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "Shake the plastic bottle with printed label after grabbing it.", + "Shake the bottle with dark brown color using the left arm after grabbing.", + "Shake the plastic bottle for liquids thoroughly after grabbing it." + ], + "unseen": [ + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode20.json b/shake_bottle/arx-x5_clean_50/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..ef75c17d75438114674766b87b2cd8cd03ef25b9 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow bottle and shake it thoroughly.", + "Grab and shake the yellow bottle using the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake properly.", + "Use the left arm to hold the bottle with screw cap and shake it.", + "Utilize the left arm to hold the bottle with screw cap and shake it.", + "Grab the plastic bottle with curved sides carefully and shake.", + "Pick the yellow bottle with dark label up with the left arm and shake.", + "Lift up the yellow bottle with dark label using the left arm, then shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Shake the bottle with screw cap after grabbing it.", + "Take the yellow bottle for liquid storage using the left arm and give it a shake.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Grab the medium plastic bottle with cap and shake it steadily.", + "Grasp the handheld curvy bottle with the left arm and shake it.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Hold the bottle with screw cap, shake it briefly.", + "Grab the plastic bottle with curved sides using the left arm, then shake.", + "Secure the medium-sized bottle and perform a shake.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Lift the plastic bottle with curved sides with the left arm and shake it.", + "Grab the bottle for liquid with the left arm and shake.", + "Use the left arm to lift and shake the bottle for liquid.", + "Pick up the bottle with screw cap and shake it well.", + "Grab the medium plastic bottle with cap firmly, shake it, and put it down.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Shake the bottle for liquid firmly after grabbing.", + "Shake the the bottle with screw cap properly after lifting.", + "Use the left arm to pick and shake the yellow bottle with blue label.", + "Secure the medium plastic bottle with cap, shake it, and place it down.", + "Grab the plastic bottle with curved sides and give it a shake.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Use the left arm to grab the handheld curvy bottle and shake it.", + "Pick up the bottle for liquid and shake it.", + "Using the left arm, shake the plastic bottle with curved sides and then place it back.", + "Shake the plastic bottle with curved sides thoroughly after grabbing it.", + "Catch the handheld curvy bottle and shake it instantly.", + "Shake the plastic bottle with curved sides after lifting it.", + "Hold the plastic bottle with curved sides and shake it properly.", + "Lift the medium plastic bottle with cap and shake it gently.", + "Shake the medium-sized bottle after holding it firmly.", + "Grip the medium-sized bottle using the left arm and shake.", + "Pick the yellow bottle for liquid storage, shake it with the left arm.", + "Hold the medium-sized bottle steady, then shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the yellow bottle with blue label after grabbing it.", + "Grab the plastic bottle with curved sides and move it to shake.", + "Hold the yellow bottle for liquid storage with the left arm and shake lightly.", + "With the left arm, pick the medium plastic bottle with cap and shake properly.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Lift the medium plastic bottle with cap and shake it thoroughly.", + "Grab and shake the medium-sized bottle using the left arm.", + "Use the left arm to grab the handheld curvy bottle and shake properly.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Utilize the left arm to hold the handheld curvy bottle and shake it.", + "Grab the medium-sized bottle carefully and shake.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Lift up the yellow bottle with blue label using the left arm, then shake.", + "Hold and shake the the medium plastic bottle with cap carefully.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Lift the bottle for liquid with the left arm and give it a shake.", + "Lift the medium plastic bottle with cap with the left arm and shake.", + "Grab the bottle with screw cap and shake it steadily.", + "Grasp the bottle with screw cap with the left arm and shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Hold the smooth plastic bottle, shake it briefly.", + "Grab the plastic bottle with curved sides using the left arm, then shake.", + "Secure the bottle for liquid and perform a shake.", + "Shake the handheld curvy bottle using the left arm after grabbing.", + "Lift the yellow bottle with the left arm and shake it.", + "Grab the bottle for liquid with the left arm and shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Pick up the plastic bottle and shake it well.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the yellow bottle.", + "Shake the yellow bottle with dark label firmly after grabbing.", + "Shake the the yellow bottle properly after lifting.", + "Use the left arm to pick and shake the yellow bottle with blue label.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Grab the yellow bottle and give it a shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Use the left arm to grab the yellow bottle and shake it.", + "Pick up the bottle with screw cap and shake it.", + "Using the left arm, shake the handheld curvy bottle and then place it back.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Catch the plastic bottle and shake it instantly.", + "Shake the yellow bottle with dark label after lifting it.", + "Hold the bottle for liquid and shake it properly.", + "Lift the bottle with screw cap and shake it gently.", + "Shake the plastic bottle after holding it firmly.", + "Grip the handheld curvy bottle using the left arm and shake.", + "Pick the yellow bottle for liquid storage, shake it with the left arm.", + "Hold the yellow bottle with blue label steady, then shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the bottle for liquid after grabbing it.", + "Grab the bottle for liquid and move it to shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "With the left arm, pick the yellow bottle for liquid storage and shake properly.", + "Pick the yellow bottle for liquid storage up using the left arm and shake it." + ], + "unseen": [ + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode21.json b/shake_bottle/arx-x5_clean_50/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..ccdb65411b96d62e57d8e1595fb7a72da121be19 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the white and orange plastic bottle firmly after grabbing.", + "Grab and shake the bottle with ribbed orange bottom using the left arm.", + "Shake the the orange and white bottle with cap properly after lifting.", + "Grab the medium orange bottle and move it to shake.", + "Utilize the left arm to hold the medium bottle with orange lid and shake it.", + "Secure the medium bottle with orange lid and perform a shake.", + "Catch the orange bottle and shake it instantly.", + "Hold the bottle with orange cap steady, then shake it.", + "Hold the bottle with orange cap, shake it briefly.", + "Grab the plastic bottle carefully and shake.", + "Shake the yellow label bottle after grabbing it.", + "Lift the yellow label bottle with the left arm and shake it.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "With the left arm, pick the medium bottle with orange lid and shake properly.", + "Take the bottle with orange cap using the left arm and give it a shake.", + "Lift up the orange bottle using the left arm, then shake.", + "Use the left arm to grab the medium orange bottle and shake it.", + "Using the left arm, shake the white and orange plastic bottle and then place it back.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Grip the orange bottle using the left arm and shake.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the cylindrical orange and white bottle thoroughly after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the medium orange bottle with the left arm and shake.", + "Lift the orange bottle and shake it thoroughly.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Grab the white and orange plastic bottle and shake it steadily.", + "Pick up the drinking bottle with yellow label and shake it well.", + "Pick the medium orange bottle up with the left arm and shake.", + "Use the left arm to grab the drinking bottle with yellow label and shake properly.", + "Use the left arm to pick and shake the orange bottle.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Shake the orange and white bottle with cap after grabbing it.", + "Grasp the bottle with orange cap with the left arm and shake it.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Lift the bottle with ribbed orange bottom with the left arm and shake.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Hold the white and orange plastic bottle with the left arm and shake lightly.", + "Shake the yellow label bottle after lifting it.", + "Hold the white and orange plastic bottle and shake it properly.", + "Hold and shake the the orange bottle carefully.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to hold the bottle with orange cap and shake it.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Pick the drinking bottle with yellow label up using the left arm and shake it.", + "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.", + "Lift the bottle with ribbed orange bottom and shake it gently.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Shake the cylindrical orange and white bottle firmly after grabbing.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Shake the the bottle with ribbed orange bottom properly after lifting.", + "Grab the medium bottle with orange lid and move it to shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Secure the bottle with orange cap and perform a shake.", + "Catch the cylindrical orange and white bottle and shake it instantly.", + "Hold the bottle with orange cap steady, then shake it.", + "Hold the medium bottle with orange lid, shake it briefly.", + "Grab the smooth plastic bottle carefully and shake.", + "Shake the white and orange plastic bottle after grabbing it.", + "Lift the white and orange plastic bottle with the left arm and shake it.", + "Grab the cylindrical orange and white bottle using the left arm, then shake.", + "With the left arm, pick the drinking bottle with yellow label and shake properly.", + "Take the medium orange bottle using the left arm and give it a shake.", + "Lift up the medium bottle with orange lid using the left arm, then shake.", + "Use the left arm to grab the orange bottle and shake it.", + "Using the left arm, shake the orange bottle and then place it back.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Grip the orange bottle using the left arm and shake.", + "Secure the bottle with ribbed orange bottom, shake it, and place it down.", + "Shake the orange bottle using the left arm after grabbing.", + "Shake the bottle with orange cap thoroughly after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Grab the medium bottle with orange lid with the left arm and shake.", + "Lift the medium bottle with orange lid and shake it thoroughly.", + "Shake the drinking bottle with yellow label after holding it firmly.", + "Grab the plastic bottle and shake it steadily.", + "Pick up the drinking bottle with yellow label and shake it well.", + "Pick the yellow label bottle up with the left arm and shake.", + "Use the left arm to grab the medium bottle with orange lid and shake properly.", + "Use the left arm to pick and shake the bottle with orange cap.", + "Pick the orange and white bottle with cap and perform shaking motion.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Grasp the bottle with orange cap with the left arm and shake it.", + "Pick the white and orange plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Lift the orange bottle with the left arm and shake.", + "Grab the yellow label bottle firmly, shake it, and put it down.", + "Hold the yellow label bottle with the left arm and shake lightly.", + "Shake the bottle with ribbed orange bottom after lifting it.", + "Hold the plastic bottle and shake it properly.", + "Hold and shake the the medium orange bottle carefully.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Use the left arm to hold the medium orange bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the cylindrical orange and white bottle up using the left arm and shake it.", + "Lift the medium orange bottle with the left arm and give it a shake.", + "Lift the white and orange plastic bottle and shake it gently.", + "Pick up the medium orange bottle and shake it." + ], + "unseen": [ + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode22.json b/shake_bottle/arx-x5_clean_50/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..3acf10d1965b5e3c5ad7edc4d15846ffa6fa68a4 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, pick the plastic bottle and shake properly.", + "Hold and shake the the green bottle with indented base carefully.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Grab the bottle with narrow top with the left arm and shake.", + "Lift the bottle with rounded neck and shake it gently.", + "Pick the medium green bottle, shake it with the left arm.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Shake the medium-sized green bottle after lifting it.", + "Shake the the handheld green bottle properly after lifting.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Hold the bottle with ridges near base steady, then shake it.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Pick up the plastic bottle and shake it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Secure the smooth green bottle and perform a shake.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Grab and shake the bottle with narrow top using the left arm.", + "Grab the medium-sized green bottle and give it a shake.", + "Shake the green bottle with indented base after grabbing it.", + "Hold the plastic bottle and shake it properly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick up the plastic bottle and shake it well.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Shake the handheld green bottle after holding it firmly.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Pick the medium green bottle and perform shaking motion.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Hold the medium-sized green bottle, shake it briefly.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the bottle with white printed label firmly after grabbing.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Hold and shake the the bottle with white printed label carefully.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Grab the plastic bottle with the left arm and shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Shake the medium-sized green bottle after lifting it.", + "Shake the the smooth green bottle properly after lifting.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Hold the medium-sized green bottle steady, then shake it.", + "Grab the medium green bottle using the left arm, then shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Use the left arm to lift and shake the handheld green bottle.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Pick up the bottle with narrow top and shake it.", + "Grab the smooth green bottle carefully and shake.", + "Grab the medium green bottle and move it to shake.", + "Take the medium green bottle using the left arm and give it a shake.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Catch the bottle with narrow top and shake it instantly.", + "Secure the medium-sized green bottle and perform a shake.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Grab the medium green bottle and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Hold the medium green bottle and shake it properly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick up the bottle with white printed label and shake it well.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Lift up the plastic bottle using the left arm, then shake.", + "Pick the handheld green bottle and perform shaking motion.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Grip the green bottle with indented base using the left arm and shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Grab the plastic bottle and shake it steadily.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Shake the handheld green bottle after grabbing it.", + "Shake the medium-sized green bottle firmly after grabbing." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode23.json b/shake_bottle/arx-x5_clean_50/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..ca2dfdc1cf759534453a5772fdc8acc2a8c7c1eb --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth orange bottle with the right arm and give it a shake.", + "Lift the orange bottle and shake it thoroughly.", + "Hold the curved orange soda bottle with the right arm and shake lightly.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Hold and shake the the light and medium-sized bottle carefully.", + "Grip the bottle for holding drinks using the right arm and shake.", + "Shake the curved orange soda bottle after grabbing it.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the bottle for holding drinks after grabbing it.", + "Pick the round-bottom bottle with white cap and perform shaking motion.", + "Grab the cylindrical orange plastic bottle and shake it steadily.", + "Shake the cylindrical orange plastic bottle after lifting it.", + "Using the right arm, shake the ridged orange bottle with grooves and then place it back.", + "Grab the bottle for holding drinks and give it a shake.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Shake the plastic bottle firmly after grabbing.", + "Secure the orange bottle and perform a shake.", + "Use the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.", + "Use the right arm to pick and shake the orange drink bottle with label.", + "Hold the round-bottom bottle with white cap steady, then shake it.", + "Lift the medium bottle with colorful label and shake it gently.", + "Use the right arm to grab the orange bottle and shake properly.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grab and shake the orange bottle using the right arm.", + "With the right arm, pick the plastic bottle and shake properly.", + "Lift up the medium bottle with colorful label using the right arm, then shake.", + "Take the light and medium-sized bottle using the right arm and give it a shake.", + "Catch the orange bottle and shake it instantly.", + "Pick the round-bottom bottle with white cap up with the right arm and shake.", + "Pick the round-bottom bottle with white cap up using the right arm and shake it.", + "Secure the light and medium-sized bottle, shake it, and place it down.", + "Shake the plastic bottle after holding it firmly.", + "Grab the smooth orange bottle using the right arm, then shake.", + "Grab the medium bottle with colorful label carefully and shake.", + "Hold the smooth orange bottle, shake it briefly.", + "Shake the smooth orange bottle using the right arm after grabbing.", + "Lift the bottle for holding drinks with the right arm and shake it.", + "Pick up the cylindrical orange plastic bottle and shake it well.", + "Lift the ridged orange bottle with grooves with the right arm and shake.", + "Grab the grooved orange drink bottle with the right arm and shake.", + "Hold the orange bottle and shake it properly.", + "Use the right arm to grab the cylindrical orange plastic bottle and shake it.", + "Pick up the smooth orange bottle and shake it.", + "Grab the bottle for holding drinks and move it to shake.", + "Shake the the ridged orange bottle with grooves properly after lifting.", + "Grasp the round-bottom bottle with white cap with the right arm and shake it.", + "Utilize the right arm to hold the orange drink bottle with label and shake it.", + "Use the right arm to lift and shake the light and medium-sized bottle.", + "Lift the bottle for holding drinks with the right arm and give it a shake.", + "Lift the curved orange soda bottle and shake it thoroughly.", + "Hold the light and medium-sized bottle with the right arm and shake lightly.", + "Shake the curved orange soda bottle thoroughly after grabbing it.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Grip the round-bottom bottle with white cap using the right arm and shake.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick the medium bottle with colorful label, shake it with the right arm.", + "Shake the medium bottle with colorful label after grabbing it.", + "Pick the smooth orange bottle and perform shaking motion.", + "Grab the bottle for holding drinks and shake it steadily.", + "Shake the light and medium-sized bottle after lifting it.", + "Using the right arm, shake the curved orange soda bottle and then place it back.", + "Grab the grooved orange drink bottle and give it a shake.", + "Use the right arm to lift and shake the curved orange soda bottle.", + "Shake the orange bottle firmly after grabbing.", + "Secure the medium bottle with colorful label and perform a shake.", + "Use the right arm to hold the ridged orange bottle with grooves and shake it.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Use the right arm to pick and shake the cylindrical orange plastic bottle.", + "Hold the smooth orange bottle steady, then shake it.", + "Lift the cylindrical orange plastic bottle and shake it gently.", + "Use the right arm to grab the medium bottle with colorful label and shake properly.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grab and shake the orange bottle using the right arm.", + "With the right arm, pick the curved orange soda bottle and shake properly.", + "Lift up the orange bottle using the right arm, then shake.", + "Take the ridged orange bottle with grooves using the right arm and give it a shake.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Pick the curved orange soda bottle up with the right arm and shake.", + "Pick the orange drink bottle with label up using the right arm and shake it.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Shake the plastic bottle after holding it firmly.", + "Grab the curved orange soda bottle using the right arm, then shake.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Hold the orange bottle, shake it briefly.", + "Shake the bottle for holding drinks using the right arm after grabbing.", + "Lift the round-bottom bottle with white cap with the right arm and shake it.", + "Pick up the cylindrical orange plastic bottle and shake it well.", + "Lift the light and medium-sized bottle with the right arm and shake.", + "Grab the round-bottom bottle with white cap with the right arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Use the right arm to grab the medium bottle with colorful label and shake it.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Grab the medium bottle with colorful label and move it to shake.", + "Shake the the bottle for holding drinks properly after lifting.", + "Grasp the grooved orange drink bottle with the right arm and shake it.", + "Utilize the right arm to hold the light and medium-sized bottle and shake it.", + "Use the right arm to lift and shake the ridged orange bottle with grooves." + ], + "unseen": [ + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode24.json b/shake_bottle/arx-x5_clean_50/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d0448722f93f4f161592cbb6b74d8543a773f6 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the yellow label bottle and shake it.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Lift the bottle with orange cap with the right arm and shake.", + "Utilize the right arm to hold the cylindrical orange and white bottle and shake it.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Shake the orange and white bottle with cap after grabbing it.", + "Using the right arm, shake the medium bottle with orange lid and then place it back.", + "Grab the medium bottle with orange lid and give it a shake.", + "Pick up the medium bottle with orange lid and shake it well.", + "Grip the orange bottle using the right arm and shake.", + "Catch the cylindrical orange and white bottle and shake it instantly.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Lift the cylindrical orange and white bottle and shake it gently.", + "Shake the the bottle with ribbed orange bottom properly after lifting.", + "Shake the orange bottle thoroughly after grabbing it.", + "Grab the bottle with orange cap with the right arm and shake.", + "Grab and shake the medium orange bottle using the right arm.", + "Grasp the bottle with ribbed orange bottom with the right arm and shake it.", + "Pick the bottle with ribbed orange bottom, shake it with the right arm.", + "Hold the medium orange bottle steady, then shake it.", + "Shake the white and orange plastic bottle after holding it firmly.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Use the right arm to grab the yellow label bottle and shake properly.", + "Use the right arm to grab the white and orange plastic bottle and shake it.", + "Secure the bottle with orange cap, shake it, and place it down.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Lift the yellow label bottle and shake it thoroughly.", + "Pick the bottle with orange cap up using the right arm and shake it.", + "Hold the medium orange bottle with the right arm and shake lightly.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the orange bottle and shake it steadily.", + "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.", + "Lift the white and orange plastic bottle with the right arm and shake it.", + "Grab the yellow label bottle using the right arm, then shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Use the right arm to lift and shake the orange and white bottle with cap.", + "Shake the orange bottle using the right arm after grabbing.", + "Lift up the bottle with ribbed orange bottom using the right arm, then shake.", + "Use the right arm to pick and shake the bottle with ribbed orange bottom.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Grab the yellow label bottle carefully and shake.", + "Hold and shake the the orange and white bottle with cap carefully.", + "Use the right arm to lift and shake the orange bottle.", + "Use the right arm to lift and shake the cylindrical orange and white bottle.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Shake the smooth plastic bottle after lifting it.", + "Pick the orange bottle and perform shaking motion.", + "Hold the smooth plastic bottle and shake it properly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Lift the bottle with orange cap with the right arm and shake.", + "Utilize the right arm to hold the white and orange plastic bottle and shake it.", + "Shake the yellow label bottle after grabbing it.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Grab the plastic bottle and give it a shake.", + "Pick up the drinking bottle with yellow label and shake it well.", + "Grip the white and orange plastic bottle using the right arm and shake.", + "Catch the bottle with ribbed orange bottom and shake it instantly.", + "Take the plastic bottle using the right arm and give it a shake.", + "Lift the medium orange bottle and shake it gently.", + "Shake the the yellow label bottle properly after lifting.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the drinking bottle with yellow label with the right arm and shake.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Grasp the medium bottle with orange lid with the right arm and shake it.", + "Pick the bottle with ribbed orange bottom, shake it with the right arm.", + "Hold the orange and white bottle with cap steady, then shake it.", + "Shake the plastic bottle after holding it firmly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Use the right arm to grab the orange and white bottle with cap and shake properly.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Secure the cylindrical orange and white bottle, shake it, and place it down.", + "Pick up the medium orange bottle and shake it.", + "Lift the white and orange plastic bottle and shake it thoroughly.", + "Pick the drinking bottle with yellow label up using the right arm and shake it.", + "Hold the cylindrical orange and white bottle with the right arm and shake lightly.", + "Shake the medium orange bottle firmly after grabbing.", + "Shake the orange bottle after grabbing it.", + "Grab the bottle with ribbed orange bottom and shake it steadily.", + "Lift the white and orange plastic bottle with the right arm and give it a shake.", + "Lift the cylindrical orange and white bottle with the right arm and shake it.", + "Grab the medium orange bottle using the right arm, then shake.", + "Pick the white and orange plastic bottle up with the right arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the medium orange bottle using the right arm after grabbing.", + "Lift up the orange and white bottle with cap using the right arm, then shake.", + "Use the right arm to pick and shake the yellow label bottle.", + "Secure the medium bottle with orange lid and perform a shake.", + "Grab the bottle with orange cap carefully and shake.", + "Hold and shake the the medium orange bottle carefully.", + "Use the right arm to lift and shake the orange bottle.", + "Use the right arm to lift and shake the medium bottle with orange lid.", + "Hold the orange bottle, shake it briefly.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Pick the bottle with orange cap and perform shaking motion.", + "Hold the plastic bottle and shake it properly." + ], + "unseen": [ + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode25.json b/shake_bottle/arx-x5_clean_50/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..e366f568c0b70f243780463b80c30329d14f957c --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the plastic bottle properly after lifting.", + "Secure the medium bottle for beverages and perform a shake.", + "Grab the medium-sized bottle and give it a shake.", + "Grab the handheld bottle using the left arm, then shake.", + "Grab the bottle with blue cap and move it to shake.", + "Shake the bottle with blue cap after grabbing it.", + "With the left arm, pick the handheld bottle and shake properly.", + "Grab the white bottle with blue accents and shake it steadily.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Use the left arm to grab the medium bottle for beverages and shake it.", + "Pick the handheld bottle up using the left arm and shake it.", + "Shake the bottle with blue cap after grabbing it.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the white and blue bottle after grabbing it.", + "Lift the white and blue bottle with the left arm and shake.", + "Shake the medium bottle for beverages after holding it firmly.", + "Hold and shake the the handheld bottle carefully.", + "Use the left arm to hold the medium bottle for beverages and shake it.", + "Shake the blue bottle with label using the left arm after grabbing.", + "Hold the medium-sized bottle with the left arm and shake lightly.", + "Lift the medium-sized bottle with the left arm and shake it.", + "Shake the handheld bottle firmly after grabbing.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Grab and shake the blue bottle using the left arm.", + "Use the left arm to lift and shake the bottle with blue cap.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Hold the blue bottle, shake it briefly.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick up the bottle for liquids and shake it well.", + "Grip the blue bottle with label using the left arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Shake the bottle with blue cap after lifting it.", + "Hold the medium-sized bottle and shake it properly.", + "Pick up the white and blue bottle and shake it.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Use the left arm to lift and shake the blue bottle with label.", + "Grasp the bottle with blue cap with the left arm and shake it.", + "Hold the blue bottle steady, then shake it.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Using the left arm, shake the white and blue bottle and then place it back.", + "Grab the white bottle with blue accents carefully and shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Lift the bottle with blue cap and shake it gently.", + "Pick the blue bottle, shake it with the left arm.", + "Grab the white and blue bottle with the left arm and shake.", + "Shake the the white and blue bottle properly after lifting.", + "Secure the white and blue bottle and perform a shake.", + "Grab the cylindrical bottle and give it a shake.", + "Grab the bottle for liquids using the left arm, then shake.", + "Grab the blue bottle with label and move it to shake.", + "Shake the cylindrical bottle after grabbing it.", + "With the left arm, pick the bottle with blue cap and shake properly.", + "Grab the cylindrical bottle and shake it steadily.", + "Take the blue bottle using the left arm and give it a shake.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the left arm to pick and shake the white bottle with blue accents.", + "Shake the bottle with blue cap after grabbing it.", + "Lift the medium bottle for beverages with the left arm and shake.", + "Shake the blue bottle after holding it firmly.", + "Hold and shake the the smooth plastic bottle carefully.", + "Use the left arm to hold the blue bottle and shake it.", + "Shake the medium bottle for beverages using the left arm after grabbing.", + "Hold the blue bottle with the left arm and shake lightly.", + "Lift the white and blue bottle with the left arm and shake it.", + "Shake the cylindrical bottle firmly after grabbing.", + "Lift the bottle with blue cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the handheld bottle.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Use the left arm to lift and shake the white and blue bottle.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Lift up the blue bottle using the left arm, then shake.", + "Pick the cylindrical bottle up with the left arm and shake.", + "Hold the blue bottle, shake it briefly.", + "Lift the white bottle with blue accents and shake it thoroughly.", + "Pick up the plastic bottle and shake it well.", + "Grip the plastic bottle using the left arm and shake.", + "Catch the bottle for liquids and shake it instantly.", + "Shake the white bottle with blue accents after lifting it.", + "Hold the cylindrical bottle and shake it properly.", + "Pick up the cylindrical bottle and shake it.", + "Secure the bottle with blue cap, shake it, and place it down.", + "Use the left arm to lift and shake the blue bottle with label.", + "Grasp the cylindrical bottle with the left arm and shake it.", + "Hold the bottle with blue cap steady, then shake it.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Grab the medium bottle for beverages carefully and shake.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Lift the cylindrical bottle and shake it gently.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab the blue bottle with the left arm and shake." + ], + "unseen": [ + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode26.json b/shake_bottle/arx-x5_clean_50/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..b7811f890c6f47166e69aece26a01a42e18ac868 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with orange cap after grabbing it.", + "Lift the medium bottle with orange lid with the right arm and give it a shake.", + "Secure the yellow label bottle, shake it, and place it down.", + "Use the right arm to lift and shake the white and orange plastic bottle.", + "Hold the bottle with ribbed orange bottom and shake it properly.", + "Using the right arm, shake the medium orange bottle and then place it back.", + "Lift the bottle with ribbed orange bottom and shake it gently.", + "With the right arm, pick the drinking bottle with yellow label and shake properly.", + "Grab the yellow label bottle carefully and shake.", + "Grab the bottle with orange cap with the right arm and shake.", + "Hold and shake the the medium orange bottle carefully.", + "Lift the medium orange bottle and shake it thoroughly.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Shake the drinking bottle with yellow label after lifting it.", + "Utilize the right arm to hold the medium bottle with orange lid and shake it.", + "Hold the drinking bottle with yellow label steady, then shake it.", + "Secure the medium bottle with orange lid and perform a shake.", + "Pick up the orange and white bottle with cap and shake it well.", + "Grab the drinking bottle with yellow label using the right arm, then shake.", + "Shake the bottle with orange cap thoroughly after grabbing it.", + "Pick the bottle with ribbed orange bottom, shake it with the right arm.", + "Grab the orange and white bottle with cap and give it a shake.", + "Shake the bottle with orange cap firmly after grabbing.", + "Grasp the plastic bottle with the right arm and shake it.", + "Use the right arm to hold the medium orange bottle and shake it.", + "Grab the white and orange plastic bottle and move it to shake.", + "Use the right arm to grab the medium bottle with orange lid and shake properly.", + "Use the right arm to lift and shake the orange bottle.", + "Grab and shake the bottle with ribbed orange bottom using the right arm.", + "Grip the bottle with ribbed orange bottom using the right arm and shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the medium bottle with orange lid using the right arm after grabbing.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab the bottle with orange cap and shake it steadily.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Take the bottle with ribbed orange bottom using the right arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Lift up the orange and white bottle with cap using the right arm, then shake.", + "Pick the medium orange bottle and perform shaking motion.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Pick up the smooth plastic bottle and shake it.", + "Shake the drinking bottle with yellow label after holding it firmly.", + "Use the right arm to grab the bottle with ribbed orange bottom and shake it.", + "Use the right arm to pick and shake the cylindrical orange and white bottle.", + "Lift the cylindrical orange and white bottle with the right arm and shake.", + "Shake the the white and orange plastic bottle properly after lifting.", + "Hold the white and orange plastic bottle, shake it briefly.", + "Catch the bottle with ribbed orange bottom and shake it instantly.", + "Pick the bottle with ribbed orange bottom up with the right arm and shake.", + "Shake the medium bottle with orange lid after grabbing it.", + "Lift the bottle with orange cap with the right arm and give it a shake.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "Use the right arm to lift and shake the yellow label bottle.", + "Hold the medium orange bottle and shake it properly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Lift the smooth plastic bottle and shake it gently.", + "With the right arm, pick the orange bottle and shake properly.", + "Grab the cylindrical orange and white bottle carefully and shake.", + "Grab the medium orange bottle with the right arm and shake.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Hold the cylindrical orange and white bottle with the right arm and shake lightly.", + "Grab the white and orange plastic bottle firmly, shake it, and put it down.", + "Shake the white and orange plastic bottle after lifting it.", + "Utilize the right arm to hold the bottle with orange cap and shake it.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Pick up the white and orange plastic bottle and shake it well.", + "Grab the plastic bottle using the right arm, then shake.", + "Shake the medium bottle with orange lid thoroughly after grabbing it.", + "Pick the orange and white bottle with cap, shake it with the right arm.", + "Grab the drinking bottle with yellow label and give it a shake.", + "Shake the bottle with orange cap firmly after grabbing.", + "Grasp the plastic bottle with the right arm and shake it.", + "Use the right arm to hold the orange and white bottle with cap and shake it.", + "Grab the orange bottle and move it to shake.", + "Use the right arm to grab the medium orange bottle and shake properly.", + "Use the right arm to lift and shake the yellow label bottle.", + "Grab and shake the bottle with ribbed orange bottom using the right arm.", + "Grip the yellow label bottle using the right arm and shake.", + "Use the right arm to lift and shake the cylindrical orange and white bottle.", + "Shake the orange bottle using the right arm after grabbing.", + "Pick the bottle with ribbed orange bottom up using the right arm and shake it.", + "Grab the bottle with ribbed orange bottom and shake it steadily.", + "Shake the medium orange bottle after grabbing it.", + "Take the orange bottle using the right arm and give it a shake.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Lift up the orange bottle using the right arm, then shake.", + "Pick the drinking bottle with yellow label and perform shaking motion.", + "Lift the plastic bottle with the right arm and shake it.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Use the right arm to grab the orange bottle and shake it.", + "Use the right arm to pick and shake the medium bottle with orange lid.", + "Lift the drinking bottle with yellow label with the right arm and shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Hold the yellow label bottle, shake it briefly.", + "Catch the orange and white bottle with cap and shake it instantly.", + "Pick the drinking bottle with yellow label up with the right arm and shake." + ], + "unseen": [ + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the right arm and shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode27.json b/shake_bottle/arx-x5_clean_50/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e1dbe9597eb619baae602633026aa610de12d2 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the bottle with black textured cap with the left arm and shake it.", + "Use the left arm to pick and shake the light blue cylindrical bottle.", + "Lift the blue water bottle with textured lid and shake it gently.", + "Hold the light blue cylindrical bottle and shake it properly.", + "Lift the blue bottle with the left arm and give it a shake.", + "With the left arm, pick the rounded bottle with black lid and shake properly.", + "Use the left arm to grab the portable bottle for liquids and shake properly.", + "Secure the light blue cylindrical bottle, shake it, and place it down.", + "Shake the bottle with black textured cap firmly after grabbing.", + "Shake the blue bottle thoroughly after grabbing it.", + "Pick the plastic bottle with black top up with the left arm and shake.", + "Catch the plastic bottle with black top and shake it instantly.", + "Secure the blue bottle and perform a shake.", + "Hold the bottle with black textured cap steady, then shake it.", + "Shake the light blue cylindrical bottle after grabbing it.", + "Shake the blue bottle after lifting it.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the light blue cylindrical bottle and give it a shake.", + "Lift the blue water bottle with textured lid with the left arm and shake it.", + "Use the left arm to hold the light blue cylindrical bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the light blue bottle with smooth body carefully and shake.", + "Use the left arm to lift and shake the bottle with black textured cap.", + "Hold the light blue cylindrical bottle with the left arm and shake lightly.", + "Grab and shake the light blue bottle with smooth body using the left arm.", + "Lift the cylindrical bottle with rounded edges with the left arm and shake.", + "Lift up the blue bottle using the left arm, then shake.", + "Shake the light blue bottle with strap-loop after grabbing it.", + "Lift the portable bottle for liquids and shake it thoroughly.", + "Shake the bottle with black textured cap after holding it firmly.", + "Pick the blue bottle, shake it with the left arm.", + "Grip the rounded bottle with black lid using the left arm and shake.", + "Grab the blue bottle and move it to shake.", + "Utilize the left arm to hold the light blue cylindrical bottle and shake it.", + "Pick the blue water bottle with textured lid and perform shaking motion.", + "Hold the light blue bottle with smooth body, shake it briefly.", + "Hold and shake the the plastic bottle with black top carefully.", + "Grab the blue water bottle with textured lid and shake it steadily.", + "Shake the bottle with black textured cap after grabbing it.", + "Use the left arm to lift and shake the light blue bottle with smooth body.", + "Take the plastic bottle using the left arm and give it a shake.", + "Using the left arm, shake the plastic bottle with black top and then place it back.", + "Pick up the bottle with black textured cap and shake it.", + "Use the left arm to grab the medium water bottle and shake it.", + "Shake the light blue cylindrical bottle using the left arm after grabbing.", + "Grab the rounded bottle with black lid firmly, shake it, and put it down.", + "Grab the light blue bottle with strap-loop with the left arm and shake.", + "Pick up the plastic bottle with black top and shake it well.", + "Shake the the light blue cylindrical bottle properly after lifting.", + "Pick the bottle with black textured cap up using the left arm and shake it.", + "Grasp the blue water bottle with textured lid with the left arm and shake it.", + "Use the left arm to pick and shake the bottle with black textured cap.", + "Lift the light blue bottle with strap-loop and shake it gently.", + "Hold the rounded bottle with black lid and shake it properly.", + "Lift the plastic bottle with the left arm and give it a shake.", + "With the left arm, pick the blue water bottle with textured lid and shake properly.", + "Use the left arm to grab the cylindrical bottle with rounded edges and shake properly.", + "Secure the portable bottle for liquids, shake it, and place it down.", + "Shake the light blue bottle with smooth body firmly after grabbing.", + "Shake the rounded bottle with black lid thoroughly after grabbing it.", + "Pick the rounded bottle with black lid up with the left arm and shake.", + "Catch the blue water bottle with textured lid and shake it instantly.", + "Secure the bottle with black textured cap and perform a shake.", + "Hold the blue water bottle with textured lid steady, then shake it.", + "Shake the blue bottle after grabbing it.", + "Shake the blue bottle after lifting it.", + "Grab the light blue bottle with smooth body using the left arm, then shake.", + "Grab the rounded bottle with black lid and give it a shake.", + "Lift the medium water bottle with the left arm and shake it.", + "Use the left arm to hold the rounded bottle with black lid and shake it.", + "Use the left arm to lift and shake the rounded bottle with black lid.", + "Grab the portable bottle for liquids carefully and shake.", + "Use the left arm to lift and shake the blue bottle.", + "Hold the bottle with black textured cap with the left arm and shake lightly.", + "Grab and shake the cylindrical bottle with rounded edges using the left arm.", + "Lift the plastic bottle with the left arm and shake.", + "Lift up the cylindrical bottle with rounded edges using the left arm, then shake.", + "Shake the plastic bottle with black top after grabbing it.", + "Lift the plastic bottle with black top and shake it thoroughly.", + "Shake the medium water bottle after holding it firmly.", + "Pick the light blue bottle with strap-loop, shake it with the left arm.", + "Grip the blue water bottle with textured lid using the left arm and shake.", + "Grab the cylindrical bottle with rounded edges and move it to shake.", + "Utilize the left arm to hold the plastic bottle with black top and shake it.", + "Pick the light blue bottle with strap-loop and perform shaking motion.", + "Hold the bottle with black textured cap, shake it briefly.", + "Hold and shake the the bottle with black textured cap carefully.", + "Grab the blue bottle and shake it steadily.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to lift and shake the cylindrical bottle with rounded edges.", + "Take the blue water bottle with textured lid using the left arm and give it a shake.", + "Using the left arm, shake the blue bottle and then place it back.", + "Pick up the light blue bottle with smooth body and shake it.", + "Use the left arm to grab the light blue bottle with strap-loop and shake it.", + "Shake the light blue cylindrical bottle using the left arm after grabbing.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the medium water bottle with the left arm and shake.", + "Pick up the rounded bottle with black lid and shake it well.", + "Shake the the blue bottle properly after lifting.", + "Pick the light blue cylindrical bottle up using the left arm and shake it." + ], + "unseen": [ + "Pick up the smooth blue water bottle and shake it.", + "Use the left arm to pick the smooth blue water bottle.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Grab the smooth blue water bottle and shake it.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Use the left arm to pick the smooth blue water bottle.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Grab the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap and shake it.", + "Use the left arm to pick the smooth blue water bottle.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the bottle with attached loop on cap and shake it.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Use the left arm to pick the smooth blue water bottle.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Grab the smooth blue water bottle and give it a shake.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Grab the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap and shake it.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Grab the smooth blue water bottle and give it a shake.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Grab the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick up the smooth blue water bottle and shake it.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Grab the bottle with attached loop on cap and shake it.", + "Pick up the smooth blue water bottle and shake it.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Grab the smooth blue water bottle and give it a shake.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Grab the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick up the smooth blue water bottle and shake it.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Grab the smooth blue water bottle and give it a shake.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Grab the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode28.json b/shake_bottle/arx-x5_clean_50/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..724a937666375bc114710a164577a3aa00cf8697 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow bottle with a green design after grabbing it.", + "Utilize the left arm to hold the bottle with white cap and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Shake the bottle with green label after grabbing it.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Secure the bottle with green label, shake it, and place it down.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Take the rectangular bottle with cylindrical neck using the left arm and give it a shake.", + "Use the left arm to hold the medium rectangular yellow bottle and shake it.", + "Secure the plastic bottle and perform a shake.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Shake the yellow bottle firmly after grabbing.", + "Use the left arm to lift and shake the bottle with green label.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Shake the the bottle with green and white labels properly after lifting.", + "Shake the yellow bottle after lifting it.", + "Pick the bottle with white cap and perform shaking motion.", + "Grip the bottle with green label using the left arm and shake.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Use the left arm to pick and shake the smooth bottle with rounded edges.", + "Grab the bottle with white cap carefully and shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Using the left arm, shake the bottle with green label and then place it back.", + "Hold the yellow plastic bottle with white top and shake it properly.", + "Grab the yellow bottle with a green design using the left arm, then shake.", + "Pick the bottle with green label, shake it with the left arm.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Pick up the plastic bottle and shake it well.", + "With the left arm, pick the yellow bottle and shake properly.", + "Grab and shake the rectangular bottle with cylindrical neck using the left arm.", + "Lift the smooth bottle with rounded edges with the left arm and give it a shake.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Use the left arm to grab the bottle with green and white labels and shake properly.", + "Grasp the yellow container with rounded edges with the left arm and shake it.", + "Lift the bottle with green and white labels with the left arm and shake.", + "Shake the bottle with white cap after holding it firmly.", + "Pick the smooth bottle with rounded edges up using the left arm and shake it.", + "Use the left arm to grab the smooth bottle with rounded edges and shake it.", + "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the yellow plastic bottle with white top and move it to shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Lift the smooth bottle with rounded edges and shake it gently.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Shake the smooth bottle with rounded edges using the left arm after grabbing.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the medium rectangular yellow bottle with the left arm and shake it.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Utilize the left arm to hold the bottle with white cap and shake it.", + "Hold the yellow bottle steady, then shake it.", + "Shake the yellow bottle after grabbing it.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Secure the yellow bottle, shake it, and place it down.", + "Pick the bottle with white cap up with the left arm and shake.", + "Take the rectangular bottle with cylindrical neck using the left arm and give it a shake.", + "Use the left arm to hold the smooth bottle with rounded edges and shake it.", + "Secure the bottle with white cap and perform a shake.", + "Catch the bottle with green and white labels and shake it instantly.", + "Grab the bottle with green label and shake it steadily.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Shake the plastic bottle after lifting it.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Grip the yellow bottle with a green design using the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Use the left arm to pick and shake the yellow container with rounded edges.", + "Grab the plastic bottle carefully and shake.", + "Hold the bottle with green label with the left arm and shake lightly.", + "Using the left arm, shake the bottle with white cap and then place it back.", + "Hold the bottle with green label and shake it properly.", + "Grab the yellow container with rounded edges using the left arm, then shake.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Lift up the yellow bottle using the left arm, then shake.", + "Pick up the medium rectangular yellow bottle and shake it well.", + "With the left arm, pick the bottle with a smooth plastic body and shake properly.", + "Grab and shake the plastic bottle using the left arm.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Grab the bottle with white cap and give it a shake.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Lift the bottle with green label with the left arm and shake.", + "Shake the medium rectangular yellow bottle after holding it firmly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.", + "Pick up the yellow plastic bottle with white top and shake it.", + "Grab the plastic bottle and move it to shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Hold and shake the the bottle with green label carefully.", + "Shake the bottle with a smooth plastic body using the left arm after grabbing.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the yellow container with rounded edges with the left arm and shake it." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode29.json b/shake_bottle/arx-x5_clean_50/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..aaf5d1aaa389e7f4859e0bb249b48aae36d0aed3 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the hand-sized plastic bottle, shake it, and place it down.", + "Shake the small bottle with decorative design firmly after grabbing.", + "Use the right arm to hold the plastic bottle and shake it.", + "Lift the bottle with white screw cap and shake it gently.", + "Grab the hand-sized plastic bottle firmly, shake it, and put it down.", + "Using the right arm, shake the small bottle with decorative design and then place it back.", + "Pick up the white-capped bottle and shake it.", + "Use the right arm to pick and shake the bottle with brown and white patterns.", + "Shake the small bottle with decorative design after grabbing it.", + "Pick the bottle with brown and white patterns and perform shaking motion.", + "Grab the smooth brown and white patterned bottle and give it a shake.", + "Lift the white-capped bottle and shake it thoroughly.", + "Pick the brown bottle up using the right arm and shake it.", + "Grab the curved bottle with white top with the right arm and shake.", + "Use the right arm to grab the small bottle with decorative design and shake properly.", + "Hold the small curved plastic bottle, shake it briefly.", + "Grasp the bottle with black label with the right arm and shake it.", + "Use the right arm to lift and shake the brown bottle.", + "Shake the smooth brown and white patterned bottle after grabbing it.", + "Shake the bottle holding liquid using the right arm after grabbing.", + "Shake the the white-capped bottle properly after lifting.", + "Shake the curved bottle with white top after grabbing it.", + "Catch the small curved plastic bottle and shake it instantly.", + "Use the right arm to grab the bottle with white screw cap and shake it.", + "Use the right arm to lift and shake the bottle with white screw cap.", + "Lift the bottle holding liquid with the right arm and shake.", + "Shake the bottle with brown and white patterns thoroughly after grabbing it.", + "Take the bottle with white screw cap using the right arm and give it a shake.", + "Utilize the right arm to hold the curved bottle with white top and shake it.", + "Grab the hand-sized plastic bottle carefully and shake.", + "Grab the smooth brown and white patterned bottle and move it to shake.", + "Grab and shake the small curved plastic bottle using the right arm.", + "Pick the bottle holding liquid, shake it with the right arm.", + "With the right arm, pick the smooth brown and white patterned bottle and shake properly.", + "Lift the bottle with brown and white patterns with the right arm and shake it.", + "Hold the white-capped bottle with the right arm and shake lightly.", + "Grab the bottle holding liquid using the right arm, then shake.", + "Grab the hand-sized plastic bottle and shake it steadily.", + "Hold the hand-sized plastic bottle and shake it properly.", + "Shake the curved bottle with white top after holding it firmly.", + "Pick the bottle holding liquid up with the right arm and shake.", + "Hold and shake the the brown bottle carefully.", + "Pick up the brown bottle and shake it well.", + "Shake the smooth brown and white patterned bottle after lifting it.", + "Lift up the plastic bottle using the right arm, then shake.", + "Hold the small curved plastic bottle steady, then shake it.", + "Use the right arm to lift and shake the bottle holding liquid.", + "Lift the bottle with white screw cap with the right arm and give it a shake.", + "Secure the bottle with white screw cap and perform a shake.", + "Grip the small curved plastic bottle using the right arm and shake.", + "Secure the hand-sized plastic bottle, shake it, and place it down.", + "Shake the plastic bottle firmly after grabbing.", + "Use the right arm to hold the hand-sized plastic bottle and shake it.", + "Lift the bottle holding liquid and shake it gently.", + "Grab the bottle with brown and white patterns firmly, shake it, and put it down.", + "Using the right arm, shake the small curved plastic bottle and then place it back.", + "Pick up the smooth brown and white patterned bottle and shake it.", + "Use the right arm to pick and shake the small curved plastic bottle.", + "Shake the bottle holding liquid after grabbing it.", + "Pick the bottle holding liquid and perform shaking motion.", + "Grab the bottle holding liquid and give it a shake.", + "Lift the curved bottle with white top and shake it thoroughly.", + "Pick the small bottle with decorative design up using the right arm and shake it.", + "Grab the bottle with black label with the right arm and shake.", + "Use the right arm to grab the white-capped bottle and shake properly.", + "Hold the smooth brown and white patterned bottle, shake it briefly.", + "Grasp the bottle with black label with the right arm and shake it.", + "Use the right arm to lift and shake the curved bottle with white top.", + "Shake the smooth brown and white patterned bottle after grabbing it.", + "Shake the bottle with brown and white patterns using the right arm after grabbing.", + "Shake the the smooth brown and white patterned bottle properly after lifting.", + "Shake the white-capped bottle after grabbing it.", + "Catch the bottle holding liquid and shake it instantly.", + "Use the right arm to grab the bottle holding liquid and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the small curved plastic bottle with the right arm and shake.", + "Shake the bottle holding liquid thoroughly after grabbing it.", + "Take the white-capped bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the bottle with white screw cap and shake it.", + "Grab the hand-sized plastic bottle carefully and shake.", + "Grab the curved bottle with white top and move it to shake.", + "Grab and shake the brown bottle using the right arm.", + "Pick the hand-sized plastic bottle, shake it with the right arm.", + "With the right arm, pick the bottle holding liquid and shake properly.", + "Lift the small bottle with decorative design with the right arm and shake it.", + "Hold the smooth brown and white patterned bottle with the right arm and shake lightly.", + "Grab the bottle with white screw cap using the right arm, then shake.", + "Grab the curved bottle with white top and shake it steadily.", + "Hold the bottle holding liquid and shake it properly.", + "Shake the white-capped bottle after holding it firmly.", + "Pick the hand-sized plastic bottle up with the right arm and shake.", + "Hold and shake the the small curved plastic bottle carefully.", + "Pick up the bottle with black label and shake it well.", + "Shake the bottle with brown and white patterns after lifting it.", + "Lift up the curved bottle with white top using the right arm, then shake.", + "Hold the bottle holding liquid steady, then shake it.", + "Use the right arm to lift and shake the small curved plastic bottle.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Secure the bottle with brown and white patterns and perform a shake.", + "Grip the plastic bottle using the right arm and shake." + ], + "unseen": [ + "Use the right arm to pick the glossy brown bottle.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Use the right arm to pick the glossy brown bottle.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Use the right arm to pick the glossy brown bottle.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Pick up the glossy brown bottle and shake it.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the glossy brown bottle and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Pick up the glossy brown bottle and shake it.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the glossy brown bottle and shake it.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode3.json b/shake_bottle/arx-x5_clean_50/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..ce99cb732f4ae9f19a98d87ff457b8ed5d009092 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with green label and shake it properly.", + "Grasp the smooth bottle with rounded edges with the left arm and shake it.", + "Shake the yellow container with rounded edges after lifting it.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Use the left arm to grab the medium rectangular yellow bottle and shake properly.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Secure the bottle with a smooth plastic body, shake it, and place it down.", + "Grab the yellow bottle with a green design carefully and shake.", + "Use the left arm to grab the medium rectangular yellow bottle and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the smooth bottle with rounded edges using the left arm, then shake.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Catch the bottle with white cap and shake it instantly.", + "With the left arm, pick the bottle with green and white labels and shake properly.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Utilize the left arm to hold the yellow bottle with a green design and shake it.", + "Grab the bottle with white cap with the left arm and shake.", + "Pick the yellow plastic bottle with white top up using the left arm and shake it.", + "Shake the yellow bottle after holding it firmly.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Hold the bottle with green label, shake it briefly.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Grab the yellow plastic bottle with white top and move it to shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Grab and shake the smooth bottle with rounded edges using the left arm.", + "Shake the bottle with green label after grabbing it.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Hold and shake the the yellow bottle carefully.", + "Pick the yellow bottle and perform shaking motion.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the bottle with green and white labels firmly after grabbing.", + "Pick up the yellow container with rounded edges and shake it.", + "Pick the bottle with green label, shake it with the left arm.", + "Use the left arm to pick and shake the yellow container with rounded edges.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Pick up the plastic bottle and shake it well.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Use the left arm to hold the yellow bottle with a green design and shake it.", + "Grab the bottle with a smooth plastic body and shake it steadily.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Grip the bottle with a smooth plastic body using the left arm and shake.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Lift the bottle with green label with the left arm and shake it.", + "Hold the bottle with green and white labels and shake it properly.", + "Grasp the bottle with green and white labels with the left arm and shake it.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Use the left arm to lift and shake the yellow bottle.", + "Grab the yellow plastic bottle with white top and give it a shake.", + "Use the left arm to grab the yellow bottle with a green design and shake properly.", + "Grab the bottle with green and white labels firmly, shake it, and put it down.", + "Secure the bottle with white cap, shake it, and place it down.", + "Grab the smooth bottle with rounded edges carefully and shake.", + "Use the left arm to grab the bottle with green label and shake it.", + "Lift the bottle with a smooth plastic body with the left arm and shake.", + "Grab the yellow plastic bottle with white top using the left arm, then shake.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "With the left arm, pick the yellow bottle and shake properly.", + "Lift the smooth bottle with rounded edges with the left arm and give it a shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the smooth bottle with rounded edges with the left arm and shake.", + "Pick the medium rectangular yellow bottle up using the left arm and shake it.", + "Shake the rectangular bottle with cylindrical neck after holding it firmly.", + "Using the left arm, shake the bottle with green and white labels and then place it back.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Hold the yellow plastic bottle with white top, shake it briefly.", + "Secure the yellow bottle with a green design and perform a shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Grab the yellow container with rounded edges and move it to shake.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Grab and shake the bottle with white cap using the left arm.", + "Shake the bottle with green label after grabbing it.", + "Take the yellow container with rounded edges using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Hold and shake the the bottle with a smooth plastic body carefully.", + "Pick the plastic bottle and perform shaking motion.", + "Hold the yellow container with rounded edges steady, then shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the yellow bottle firmly after grabbing.", + "Pick up the bottle with green label and shake it.", + "Pick the bottle with a smooth plastic body, shake it with the left arm.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Pick up the yellow container with rounded edges and shake it well.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Use the left arm to hold the bottle with green label and shake it.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Lift up the bottle with a smooth plastic body using the left arm, then shake.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Grip the medium rectangular yellow bottle using the left arm and shake.", + "Hold the bottle with green label with the left arm and shake lightly.", + "Lift the yellow plastic bottle with white top with the left arm and shake it." + ], + "unseen": [ + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode30.json b/shake_bottle/arx-x5_clean_50/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..068d080533958b16ff3285fc1d6be8a08efad8d8 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with blue and yellow print and shake it properly.", + "Hold the medium bottle with yellow cap, shake it briefly.", + "Pick the yellow-capped cylindrical bottle up using the left arm and shake it.", + "Grasp the yellow capped drink bottle with the left arm and shake it.", + "Use the left arm to pick and shake the drink bottle with rounded yellow lid.", + "Utilize the left arm to hold the yellow capped drink bottle and shake it.", + "Grab the drink bottle with rounded yellow lid with the left arm and shake.", + "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.", + "Shake the the drink bottle with rounded yellow lid properly after lifting.", + "Secure the medium bottle with yellow cap, shake it, and place it down.", + "Use the left arm to hold the black cylindrical bottle with ridges and shake it.", + "Grab the beverage bottle with black body and give it a shake.", + "Lift the bottle with blue and yellow print and shake it gently.", + "Secure the beverage bottle with black body and perform a shake.", + "Lift up the medium black bottle with printed label using the left arm, then shake.", + "Lift the bottle with blue and yellow print and shake it thoroughly.", + "Grip the beverage bottle with black body using the left arm and shake.", + "Grab the black bottle using the left arm, then shake.", + "Grab the black bottle carefully and shake.", + "Grab the black bottle and shake it steadily.", + "Hold and shake the the medium bottle with yellow cap carefully.", + "Pick the plastic bottle with colorful label up with the left arm and shake.", + "Grab the yellow-capped cylindrical bottle and move it to shake.", + "Use the left arm to grab the bottle with blue and yellow print and shake properly.", + "Lift the black bottle with the left arm and shake it.", + "Take the yellow capped drink bottle using the left arm and give it a shake.", + "Use the left arm to grab the yellow capped drink bottle and shake it.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Catch the medium bottle with yellow cap and shake it instantly.", + "Pick up the yellow capped drink bottle and shake it.", + "Pick the drink bottle with rounded yellow lid, shake it with the left arm.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Pick up the bottle with blue and yellow print and shake it well.", + "Shake the medium bottle with yellow cap using the left arm after grabbing.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Grab and shake the yellow-capped cylindrical bottle using the left arm.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Hold the beverage bottle with black body steady, then shake it.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Shake the black cylindrical bottle with ridges after lifting it.", + "Shake the drink bottle with rounded yellow lid after holding it firmly.", + "Lift the drink bottle with rounded yellow lid with the left arm and shake.", + "With the left arm, pick the yellow-capped cylindrical bottle and shake properly.", + "Using the left arm, shake the black bottle and then place it back.", + "Pick the beverage bottle with black body and perform shaking motion.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Lift the medium black bottle with printed label with the left arm and give it a shake.", + "Shake the yellow capped drink bottle thoroughly after grabbing it.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Hold the medium bottle with yellow cap with the left arm and shake lightly.", + "Hold the drink bottle with rounded yellow lid and shake it properly.", + "Hold the yellow-capped cylindrical bottle, shake it briefly.", + "Pick the bottle with blue and yellow print up using the left arm and shake it.", + "Grasp the plastic bottle with colorful label with the left arm and shake it.", + "Use the left arm to pick and shake the black bottle.", + "Utilize the left arm to hold the medium black bottle with printed label and shake it.", + "Grab the drink bottle with rounded yellow lid with the left arm and shake.", + "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "Grab the beverage bottle with black body and give it a shake.", + "Lift the black plastic bottle with Pepsi logo and shake it gently.", + "Secure the black bottle and perform a shake.", + "Lift up the smooth black bottle with ridges using the left arm, then shake.", + "Lift the yellow capped drink bottle and shake it thoroughly.", + "Grip the plastic bottle with colorful label using the left arm and shake.", + "Grab the smooth black bottle with ridges using the left arm, then shake.", + "Grab the smooth black bottle with ridges carefully and shake.", + "Grab the medium bottle with yellow cap and shake it steadily.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Pick the medium bottle with yellow cap up with the left arm and shake.", + "Grab the medium bottle with yellow cap and move it to shake.", + "Use the left arm to grab the drink bottle with rounded yellow lid and shake properly.", + "Lift the plastic bottle with colorful label with the left arm and shake it.", + "Take the black bottle using the left arm and give it a shake.", + "Use the left arm to grab the black bottle and shake it.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Catch the medium black bottle with printed label and shake it instantly.", + "Pick up the black plastic bottle with Pepsi logo and shake it.", + "Pick the smooth black bottle with ridges, shake it with the left arm.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Shake the plastic bottle with colorful label using the left arm after grabbing.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Grab and shake the plastic bottle with colorful label using the left arm.", + "Use the left arm to lift and shake the black bottle.", + "Hold the black cylindrical bottle with ridges steady, then shake it.", + "Use the left arm to lift and shake the black cylindrical bottle with ridges.", + "Shake the medium black bottle with printed label after lifting it.", + "Shake the medium bottle with yellow cap after holding it firmly.", + "Lift the smooth black bottle with ridges with the left arm and shake.", + "With the left arm, pick the yellow capped drink bottle and shake properly.", + "Using the left arm, shake the black plastic bottle with Pepsi logo and then place it back.", + "Pick the black cylindrical bottle with ridges and perform shaking motion.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Lift the medium black bottle with printed label with the left arm and give it a shake.", + "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Hold the medium bottle with yellow cap with the left arm and shake lightly." + ], + "unseen": [ + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode31.json b/shake_bottle/arx-x5_clean_50/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb9fa4ec3ce3ed08da90000de08899aab691f36 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the black cylindrical bottle with ridges and shake it instantly.", + "Grab the black cylindrical bottle with ridges and shake it steadily.", + "Use the left arm to grab the smooth black bottle with ridges and shake it.", + "Pick the smooth black bottle with ridges up with the left arm and shake.", + "Shake the yellow capped drink bottle after holding it firmly.", + "Grab and shake the plastic bottle with colorful label using the left arm.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Take the black plastic bottle with Pepsi logo using the left arm and give it a shake.", + "Use the left arm to hold the smooth black bottle with ridges and shake it.", + "Secure the plastic bottle with colorful label and perform a shake.", + "Pick up the smooth black bottle with ridges and shake it.", + "Lift the smooth black bottle with ridges with the left arm and shake it.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.", + "Grab the beverage bottle with black body with the left arm and shake.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Lift the medium bottle with yellow cap with the left arm and shake.", + "Shake the black bottle after grabbing it.", + "Hold the medium black bottle with printed label steady, then shake it.", + "Hold the plastic bottle with colorful label with the left arm and shake lightly.", + "With the left arm, pick the medium bottle with yellow cap and shake properly.", + "Shake the medium black bottle with printed label thoroughly after grabbing it.", + "Shake the smooth black bottle with ridges after lifting it.", + "Pick the drink bottle with rounded yellow lid, shake it with the left arm.", + "Pick the black bottle and perform shaking motion.", + "Grab the black bottle and move it to shake.", + "Shake the bottle with blue and yellow print using the left arm after grabbing.", + "Grab the smooth black bottle with ridges carefully and shake.", + "Grab the black plastic bottle with Pepsi logo and give it a shake.", + "Grip the black cylindrical bottle with ridges using the left arm and shake.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Pick the yellow capped drink bottle up using the left arm and shake it.", + "Utilize the left arm to hold the black cylindrical bottle with ridges and shake it.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Hold the beverage bottle with black body, shake it briefly.", + "Grab the medium bottle with yellow cap using the left arm, then shake.", + "Secure the plastic bottle with colorful label, shake it, and place it down.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Using the left arm, shake the smooth black bottle with ridges and then place it back.", + "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium bottle with yellow cap.", + "Use the left arm to grab the black bottle and shake properly.", + "Lift up the yellow-capped cylindrical bottle using the left arm, then shake.", + "Lift the medium bottle with yellow cap with the left arm and give it a shake.", + "Pick up the bottle with blue and yellow print and shake it well.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Use the left arm to pick and shake the beverage bottle with black body.", + "Hold the black plastic bottle with Pepsi logo and shake it properly.", + "Shake the the smooth black bottle with ridges properly after lifting.", + "Lift the yellow capped drink bottle and shake it thoroughly.", + "Catch the medium bottle with yellow cap and shake it instantly.", + "Grab the yellow-capped cylindrical bottle and shake it steadily.", + "Use the left arm to grab the bottle with blue and yellow print and shake it.", + "Pick the black bottle up with the left arm and shake.", + "Shake the smooth black bottle with ridges after holding it firmly.", + "Grab and shake the beverage bottle with black body using the left arm.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Take the medium black bottle with printed label using the left arm and give it a shake.", + "Use the left arm to hold the medium bottle with yellow cap and shake it.", + "Secure the yellow capped drink bottle and perform a shake.", + "Pick up the medium bottle with yellow cap and shake it.", + "Lift the yellow capped drink bottle with the left arm and shake it.", + "Shake the black bottle after grabbing it.", + "Grasp the smooth black bottle with ridges with the left arm and shake it.", + "Grab the medium bottle with yellow cap with the left arm and shake.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Lift the black cylindrical bottle with ridges with the left arm and shake.", + "Shake the medium black bottle with printed label after grabbing it.", + "Hold the medium black bottle with printed label steady, then shake it.", + "Hold the plastic bottle with colorful label with the left arm and shake lightly.", + "With the left arm, pick the medium bottle with yellow cap and shake properly.", + "Shake the bottle with blue and yellow print thoroughly after grabbing it.", + "Shake the black plastic bottle with Pepsi logo after lifting it.", + "Pick the yellow capped drink bottle, shake it with the left arm.", + "Pick the medium black bottle with printed label and perform shaking motion.", + "Grab the yellow-capped cylindrical bottle and move it to shake.", + "Shake the black plastic bottle with Pepsi logo using the left arm after grabbing.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Grip the yellow-capped cylindrical bottle using the left arm and shake.", + "Shake the medium black bottle with printed label firmly after grabbing.", + "Pick the bottle with blue and yellow print up using the left arm and shake it.", + "Utilize the left arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Hold the medium bottle with yellow cap, shake it briefly.", + "Grab the yellow-capped cylindrical bottle using the left arm, then shake.", + "Secure the bottle with blue and yellow print, shake it, and place it down.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Using the left arm, shake the yellow capped drink bottle and then place it back.", + "Grab the bottle with blue and yellow print firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Use the left arm to grab the yellow-capped cylindrical bottle and shake properly.", + "Lift up the bottle with blue and yellow print using the left arm, then shake.", + "Lift the yellow capped drink bottle with the left arm and give it a shake.", + "Pick up the smooth black bottle with ridges and shake it well.", + "Hold and shake the the black plastic bottle with Pepsi logo carefully.", + "Use the left arm to pick and shake the black plastic bottle with Pepsi logo.", + "Hold the medium black bottle with printed label and shake it properly.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Lift the plastic bottle with colorful label and shake it thoroughly." + ], + "unseen": [ + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode32.json b/shake_bottle/arx-x5_clean_50/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..d71e9c15f7ac7fdbfa8e50e963d1186f71feee7f --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the yellow bottle using the right arm and give it a shake.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Hold the yellow bottle with a green design and shake it properly.", + "Hold the yellow plastic bottle with white top with the right arm and shake lightly.", + "Pick the bottle with green and white labels up with the right arm and shake.", + "Pick up the yellow bottle and shake it.", + "Pick the bottle with green label, shake it with the right arm.", + "Use the right arm to lift and shake the yellow bottle.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Shake the medium rectangular yellow bottle using the right arm after grabbing.", + "Use the right arm to grab the bottle with white cap and shake it.", + "With the right arm, pick the yellow bottle with a green design and shake properly.", + "Grab and shake the yellow container with rounded edges using the right arm.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Use the right arm to grab the yellow container with rounded edges and shake properly.", + "Secure the bottle with white cap and perform a shake.", + "Use the right arm to hold the yellow container with rounded edges and shake it.", + "Shake the bottle with green label after grabbing it.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Shake the plastic bottle firmly after grabbing.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Hold and shake the the smooth bottle with rounded edges carefully.", + "Lift the bottle with green label and shake it thoroughly.", + "Lift the yellow bottle with the right arm and shake.", + "Grab the rectangular bottle with cylindrical neck with the right arm and shake.", + "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.", + "Using the right arm, shake the yellow plastic bottle with white top and then place it back.", + "Shake the the yellow plastic bottle with white top properly after lifting.", + "Shake the smooth bottle with rounded edges after holding it firmly.", + "Grab the bottle with green label and shake it steadily.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Use the right arm to pick and shake the bottle with green label.", + "Hold the smooth bottle with rounded edges, shake it briefly.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Grasp the yellow bottle with a green design with the right arm and shake it.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the bottle with white cap and move it to shake.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Pick up the yellow container with rounded edges and shake it well.", + "Utilize the right arm to hold the medium rectangular yellow bottle and shake it.", + "Pick the medium rectangular yellow bottle up using the right arm and shake it.", + "Lift the yellow bottle with the right arm and shake it.", + "Lift up the smooth bottle with rounded edges using the right arm, then shake.", + "Shake the yellow container with rounded edges after grabbing it.", + "Grab the yellow plastic bottle with white top using the right arm, then shake.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Lift the bottle with green label with the right arm and give it a shake.", + "Take the yellow bottle using the right arm and give it a shake.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Hold the plastic bottle and shake it properly.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Pick the bottle with a smooth plastic body up with the right arm and shake.", + "Pick up the plastic bottle and shake it.", + "Pick the medium rectangular yellow bottle, shake it with the right arm.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Shake the yellow bottle with a green design after grabbing it.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Use the right arm to grab the bottle with white cap and shake it.", + "With the right arm, pick the bottle with green label and shake properly.", + "Grab and shake the bottle with green and white labels using the right arm.", + "Catch the bottle with a smooth plastic body and shake it instantly.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Secure the bottle with green label and perform a shake.", + "Use the right arm to hold the bottle with green and white labels and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Secure the yellow plastic bottle with white top, shake it, and place it down.", + "Shake the bottle with green label firmly after grabbing.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Hold and shake the the yellow bottle carefully.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the bottle with green label with the right arm and shake.", + "Grab the plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.", + "Using the right arm, shake the bottle with green and white labels and then place it back.", + "Shake the the plastic bottle properly after lifting.", + "Shake the bottle with green label after holding it firmly.", + "Grab the bottle with white cap and shake it steadily.", + "Pick the yellow container with rounded edges and perform shaking motion.", + "Use the right arm to pick and shake the yellow container with rounded edges.", + "Hold the bottle with white cap, shake it briefly.", + "Grab the bottle with green label and give it a shake.", + "Grasp the medium rectangular yellow bottle with the right arm and shake it.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Grip the yellow plastic bottle with white top using the right arm and shake.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Pick up the medium rectangular yellow bottle and shake it well.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Pick the rectangular bottle with cylindrical neck up using the right arm and shake it.", + "Lift the bottle with white cap with the right arm and shake it.", + "Lift up the yellow container with rounded edges using the right arm, then shake.", + "Shake the bottle with white cap after grabbing it.", + "Grab the yellow container with rounded edges using the right arm, then shake.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Lift the bottle with green label with the right arm and give it a shake." + ], + "unseen": [ + "Use the right arm to pick the yellow rectangular bottle.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode33.json b/shake_bottle/arx-x5_clean_50/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..6643d9fe477c403badf002057add18d4c764b260 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the handheld brown bottle with white lid, shake it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Shake the plastic bottle with printed label after grabbing it.", + "Lift the plastic bottle with printed label with the right arm and shake it.", + "Grab the handheld brown bottle with white lid and move it to shake.", + "Grab the bottle with brown body and white top with the right arm and shake.", + "Shake the plastic bottle for liquids after lifting it.", + "Lift the white-capped brown cylindrical bottle and shake it gently.", + "Lift up the smooth brown bottle using the right arm, then shake.", + "Pick up the plastic bottle with printed label and shake it well.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Grab and shake the smooth brown bottle using the right arm.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Shake the the smooth brown bottle properly after lifting.", + "Grip the bottle with white cap using the right arm and shake.", + "Pick the bottle with brown body and white top up with the right arm and shake.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Shake the plastic bottle with printed label after holding it firmly.", + "Use the right arm to lift and shake the bottle with white cap.", + "Take the cylindrical bottle with narrow neck using the right arm and give it a shake.", + "Grab the medium plastic bottle and give it a shake.", + "Grab the medium bottle with smooth texture firmly, shake it, and put it down.", + "Shake the rounded bottle with printed details after grabbing it.", + "Hold the plastic bottle for liquids, shake it briefly.", + "Use the right arm to grab the handheld brown bottle with white lid and shake it.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Shake the rounded bottle with printed details thoroughly after grabbing it.", + "Grasp the plastic bottle for liquids with the right arm and shake it.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Use the right arm to hold the bottle with dark brown color and shake it.", + "Shake the cylindrical bottle with narrow neck using the right arm after grabbing.", + "Grab the medium plastic bottle using the right arm, then shake.", + "Use the right arm to pick and shake the handheld brown bottle with white lid.", + "Utilize the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Shake the plastic bottle for liquids after grabbing it.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Pick the handheld brown bottle with white lid up using the right arm and shake it.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Grab the cylindrical bottle with narrow neck carefully and shake.", + "Hold the smooth brown bottle and shake it properly.", + "Lift the bottle with brown body and white top with the right arm and give it a shake.", + "Hold the handheld brown bottle with white lid with the right arm and shake lightly.", + "Hold and shake the the bottle with brown body and white top carefully.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "With the right arm, pick the rounded bottle with printed details and shake properly.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Pick the plastic bottle for liquids, shake it with the right arm.", + "Use the right arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Shake the medium plastic bottle after grabbing it.", + "Lift the bottle with brown body and white top with the right arm and shake it.", + "Grab the bottle with white cap and move it to shake.", + "Grab the bottle with dark brown color with the right arm and shake.", + "Shake the bottle with brown body and white top after lifting it.", + "Lift the medium plastic bottle and shake it gently.", + "Lift up the plastic bottle with printed label using the right arm, then shake.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Secure the smooth brown bottle, shake it, and place it down.", + "Grab and shake the bottle with dark brown color using the right arm.", + "Shake the white-capped brown cylindrical bottle firmly after grabbing.", + "Shake the the medium plastic bottle properly after lifting.", + "Grip the cylindrical bottle with narrow neck using the right arm and shake.", + "Pick the bottle with dark brown color up with the right arm and shake.", + "Catch the smooth brown bottle and shake it instantly.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Take the handheld brown bottle with white lid using the right arm and give it a shake.", + "Grab the bottle with dark brown color and give it a shake.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Shake the plastic bottle for liquids after grabbing it.", + "Hold the smooth brown bottle, shake it briefly.", + "Use the right arm to grab the bottle with brown body and white top and shake it.", + "Grab the medium plastic bottle and shake it steadily.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Use the right arm to hold the bottle with brown body and white top and shake it.", + "Shake the medium plastic bottle using the right arm after grabbing.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Use the right arm to pick and shake the smooth brown bottle.", + "Utilize the right arm to hold the cylindrical bottle with narrow neck and shake it.", + "Secure the medium plastic bottle and perform a shake.", + "Lift the rounded bottle with printed details with the right arm and shake.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Hold the smooth brown bottle steady, then shake it.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Pick the cylindrical bottle with narrow neck up using the right arm and shake it.", + "Pick up the white-capped brown cylindrical bottle and shake it.", + "Grab the cylindrical bottle with narrow neck carefully and shake.", + "Hold the rounded bottle with printed details and shake it properly.", + "Lift the rounded bottle with printed details with the right arm and give it a shake.", + "Hold the smooth brown bottle with the right arm and shake lightly.", + "Hold and shake the the cylindrical bottle with narrow neck carefully.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "With the right arm, pick the smooth brown bottle and shake properly.", + "Using the right arm, shake the rounded bottle with printed details and then place it back." + ], + "unseen": [ + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode34.json b/shake_bottle/arx-x5_clean_50/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..d04b76438ddb62e350bfa1659a508fce6e53ed48 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle using the right arm, then shake.", + "With the right arm, pick the yellow-capped plastic bottle and shake properly.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Shake the bottle for liquids after grabbing it.", + "Lift the cylindrical orange bottle with yellow top with the right arm and shake.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Grab the plastic bottle carefully and shake.", + "Shake the orange bottle after lifting it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Shake the the orange cylindrical bottle properly after lifting.", + "Catch the bottle with narrow neck and shake it instantly.", + "Hold the bottle with narrow neck, shake it briefly.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Grab the orange cylindrical bottle and give it a shake.", + "Pick the yellow-capped plastic bottle up with the right arm and shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Take the bottle with printed label using the right arm and give it a shake.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Pick the orange bottle, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Hold the medium-sized orange bottle and shake it properly.", + "Lift the orange bottle with the right arm and shake it.", + "Secure the smooth plastic bottle and perform a shake.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Lift the orange bottle with the right arm and give it a shake.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Use the right arm to hold the medium-sized orange bottle and shake it.", + "Use the right arm to pick and shake the orange bottle.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Shake the bottle with narrow neck using the right arm after grabbing.", + "Utilize the right arm to hold the bottle with yellow cap and shake it.", + "Lift the bottle with printed label and shake it gently.", + "Hold and shake the the bottle with yellow cap carefully.", + "Grab and shake the cylindrical orange bottle with yellow top using the right arm.", + "Grab the plastic bottle with sealed yellow cap and shake it steadily.", + "Shake the bottle with printed label after holding it firmly.", + "Grip the bottle for liquids using the right arm and shake.", + "Shake the bottle for liquids after grabbing it.", + "Shake the bottle with printed label firmly after grabbing.", + "Pick up the yellow-capped plastic bottle and shake it well.", + "Grab the cylindrical orange bottle with yellow top with the right arm and shake.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Grab the yellow-capped plastic bottle and move it to shake.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Using the right arm, shake the plastic bottle with sealed yellow cap and then place it back.", + "Shake the medium-sized orange bottle after grabbing it.", + "Use the right arm to grab the cylindrical orange bottle with yellow top and shake it.", + "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.", + "With the right arm, pick the bottle with printed label and shake properly.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Shake the plastic bottle after grabbing it.", + "Lift the medium-sized orange bottle with the right arm and shake.", + "Secure the orange cylindrical bottle, shake it, and place it down.", + "Grab the medium-sized orange bottle carefully and shake.", + "Shake the medium-sized orange bottle after lifting it.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Catch the bottle with yellow cap and shake it instantly.", + "Hold the yellow-capped plastic bottle, shake it briefly.", + "Pick the bottle with printed label up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Grab the smooth plastic bottle and give it a shake.", + "Pick the yellow-capped plastic bottle up with the right arm and shake.", + "Grasp the orange cylindrical bottle with the right arm and shake it.", + "Take the bottle with printed label using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Pick the plastic bottle with sealed yellow cap, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Lift the bottle for liquids with the right arm and shake it.", + "Secure the orange cylindrical bottle and perform a shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick up the bottle with narrow neck and shake it.", + "Lift the medium-sized orange bottle with the right arm and give it a shake.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Use the right arm to hold the plastic bottle and shake it.", + "Use the right arm to pick and shake the yellow-capped plastic bottle.", + "Use the right arm to grab the orange cylindrical bottle and shake properly.", + "Pick the bottle with narrow neck and perform shaking motion.", + "Shake the medium-sized orange bottle using the right arm after grabbing.", + "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.", + "Lift the cylindrical orange bottle with yellow top and shake it gently.", + "Hold and shake the the bottle for liquids carefully.", + "Grab and shake the bottle with printed label using the right arm.", + "Grab the cylindrical orange bottle with yellow top and shake it steadily.", + "Shake the medium-sized orange bottle after holding it firmly.", + "Grip the bottle with printed label using the right arm and shake.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Pick up the medium-sized orange bottle and shake it well.", + "Grab the cylindrical orange bottle with yellow top with the right arm and shake.", + "Hold the bottle with yellow cap steady, then shake it.", + "Grab the plastic bottle and move it to shake.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Using the right arm, shake the bottle with yellow cap and then place it back.", + "Shake the orange cylindrical bottle after grabbing it.", + "Use the right arm to grab the orange bottle and shake it." + ], + "unseen": [ + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode35.json b/shake_bottle/arx-x5_clean_50/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..453b14c3d2418d66fbba2894f430e90bec158d9e --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with green cap after holding it firmly.", + "With the left arm, pick the bottle with green cap and shake properly.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to pick and shake the medium bottle with glossy surface.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake it.", + "Hold the brown bottle with rounded rectangular shape and shake it properly.", + "Take the dark brown bottle with a squared body using the left arm and give it a shake.", + "Pick the smooth brown bottle with green label, shake it with the left arm.", + "Grab the medium-sized brown plastic bottle carefully and shake.", + "Pick up the plastic bottle and shake it well.", + "Utilize the left arm to hold the smooth brown bottle with green label and shake it.", + "Use the left arm to grab the medium bottle with glossy surface and shake properly.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Lift the rectangular-shaped bottle with round cap with the left arm and shake it.", + "Lift the bottle with green cap and shake it gently.", + "Use the left arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Pick the rectangular-shaped bottle with round cap up using the left arm and shake it.", + "Hold the smooth brown bottle with green label with the left arm and shake lightly.", + "Pick the brown bottle up with the left arm and shake.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Grab the rectangular brown body with white top and move it to shake.", + "Shake the the dark brown bottle with a squared body properly after lifting.", + "Grab and shake the medium bottle with glossy surface using the left arm.", + "Lift up the rectangular-shaped bottle with round cap using the left arm, then shake.", + "Grip the dark brown bottle with a squared body using the left arm and shake.", + "Hold the plastic bottle, shake it briefly.", + "Hold the medium bottle with glossy surface steady, then shake it.", + "Shake the rectangular-shaped bottle with round cap after lifting it.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Grab the medium-sized brown plastic bottle firmly, shake it, and put it down.", + "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.", + "Grasp the bottle with green cap with the left arm and shake it.", + "Lift the brown bottle with rounded rectangular shape with the left arm and shake.", + "Pick up the smooth brown bottle with green label and shake it.", + "Shake the rectangular-shaped bottle with round cap using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with green cap.", + "Lift the brown bottle and shake it thoroughly.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Hold and shake the the rectangular brown body with white top carefully.", + "Secure the medium-sized brown plastic bottle, shake it, and place it down.", + "Grab the rectangular brown body with white top with the left arm and shake.", + "Catch the bottle with green cap and shake it instantly.", + "Grab the brown bottle with rounded rectangular shape using the left arm, then shake.", + "Grab the dark brown bottle with a squared body and shake it steadily.", + "Secure the bottle with green cap and perform a shake.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Using the left arm, shake the brown bottle and then place it back.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Shake the smooth brown bottle with green label after holding it firmly.", + "With the left arm, pick the rectangular-shaped bottle with round cap and shake properly.", + "Pick the bottle with green cap and perform shaking motion.", + "Use the left arm to pick and shake the smooth brown bottle with green label.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Use the left arm to grab the bottle with flat sides and logo and shake it.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.", + "Pick the smooth brown bottle with green label, shake it with the left arm.", + "Grab the bottle with green cap carefully and shake.", + "Pick up the bottle with flat sides and logo and shake it well.", + "Utilize the left arm to hold the brown bottle and shake it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Shake the smooth brown bottle with green label firmly after grabbing.", + "Lift the smooth plastic bottle with white cap with the left arm and shake it.", + "Lift the brown bottle with rounded rectangular shape and shake it gently.", + "Use the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Pick the brown bottle up using the left arm and shake it.", + "Hold the brown bottle with the left arm and shake lightly.", + "Pick the bottle with green cap up with the left arm and shake.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Grab the dark brown bottle with a squared body and move it to shake.", + "Shake the the smooth brown bottle with green label properly after lifting.", + "Grab and shake the plastic bottle using the left arm.", + "Lift up the medium-sized brown plastic bottle using the left arm, then shake.", + "Grip the brown bottle using the left arm and shake.", + "Hold the smooth brown bottle with green label, shake it briefly.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Shake the smooth plastic bottle with white cap after lifting it.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Shake the bottle with flat sides and logo thoroughly after grabbing it.", + "Grasp the brown bottle with rounded rectangular shape with the left arm and shake it.", + "Lift the medium-sized brown plastic bottle with the left arm and shake.", + "Pick up the rectangular brown body with white top and shake it.", + "Shake the rectangular brown body with white top using the left arm after grabbing.", + "Use the left arm to lift and shake the smooth plastic bottle with white cap.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Use the left arm to lift and shake the brown bottle.", + "Hold and shake the the rectangular brown body with white top carefully.", + "Secure the smooth plastic bottle with white cap, shake it, and place it down.", + "Grab the medium bottle with glossy surface with the left arm and shake.", + "Catch the medium-sized brown plastic bottle and shake it instantly.", + "Grab the rectangular brown body with white top using the left arm, then shake.", + "Grab the plastic bottle and shake it steadily.", + "Secure the rectangular-shaped bottle with round cap and perform a shake.", + "Use the left arm to lift and shake the brown bottle.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift the rectangular brown body with white top with the left arm and give it a shake.", + "Shake the bottle with green cap after grabbing it." + ], + "unseen": [ + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the bottle with green label and white lid with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode36.json b/shake_bottle/arx-x5_clean_50/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..d6c16478847fd51f85800f2d7548b840ae8533e5 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Lift the red-capped bottle and shake it gently.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Grab the bottle with white neck and red top carefully and shake.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the long thin bottle and move it to shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Grab the long thin bottle and give it a shake.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Shake the plastic drink bottle after lifting it.", + "Grab the red-capped bottle with the right arm and shake.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Pick up the smooth bottle with red lid and shake it well.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Pick the plastic drink bottle and perform shaking motion.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Lift the long thin bottle with the right arm and shake it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Hold the brown bottle with red label steady, then shake it.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Lift the red-capped bottle with the right arm and shake.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Pick up the brown bottle with red label and shake it.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Secure the smooth bottle with red lid and perform a shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Lift the long thin bottle and shake it gently.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Grab the Coca-Cola bottle carefully and shake.", + "Grab the long thin bottle and shake it steadily.", + "Shake the long thin bottle after grabbing it.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Lift the long thin bottle and shake it thoroughly.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Hold the brown bottle with red label and shake it properly.", + "Grab the plastic drink bottle and give it a shake.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Shake the brown bottle with red label after lifting it.", + "Grab the red-capped bottle with the right arm and shake.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Pick up the Coca-Cola bottle and shake it well.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Lift the red-capped bottle with the right arm and shake it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Hold the plastic drink bottle steady, then shake it.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Grab the red-capped bottle using the right arm, then shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Hold and shake the the long thin bottle carefully.", + "Grab and shake the narrow-necked bottle using the right arm." + ], + "unseen": [ + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode37.json b/shake_bottle/arx-x5_clean_50/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..63f5db256ffca4f1c1bb54dcde5e2a44f1ba523e --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium-sized bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Pick the blue bottle with label, shake it with the left arm.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Using the left arm, shake the white bottle with blue accents and then place it back.", + "Grab the white and blue bottle carefully and shake.", + "Lift the bottle with blue cap and shake it thoroughly.", + "Pick up the white and blue bottle and shake it.", + "Grip the bottle with blue cap using the left arm and shake.", + "Catch the cylindrical bottle and shake it instantly.", + "Pick the bottle with blue cap up with the left arm and shake.", + "Lift the blue bottle with label and shake it gently.", + "Shake the blue bottle with label after holding it firmly.", + "Secure the bottle for liquids and perform a shake.", + "Hold and shake the the bottle with blue cap carefully.", + "Lift up the medium bottle for beverages using the left arm, then shake.", + "Hold the handheld bottle and shake it properly.", + "Shake the the white and blue bottle properly after lifting.", + "Secure the handheld bottle, shake it, and place it down.", + "Shake the white and blue bottle using the left arm after grabbing.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Shake the white and blue bottle after grabbing it.", + "Take the white and blue bottle using the left arm and give it a shake.", + "Shake the smooth plastic bottle after lifting it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Pick up the medium-sized bottle and shake it well.", + "Use the left arm to lift and shake the blue bottle.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the bottle with blue cap and give it a shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Lift the blue bottle with label with the left arm and shake it.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Hold the medium bottle for beverages, shake it briefly.", + "Use the left arm to pick and shake the plastic bottle.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Use the left arm to hold the blue bottle and shake it.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Shake the white and blue bottle after grabbing it.", + "Use the left arm to lift and shake the bottle for liquids.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Grab the handheld bottle and shake it steadily.", + "Grab the medium bottle for beverages with the left arm and shake.", + "Hold the cylindrical bottle steady, then shake it.", + "Lift the medium-sized bottle with the left arm and shake.", + "Pick the handheld bottle and perform shaking motion.", + "Grab the cylindrical bottle using the left arm, then shake.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Grab the blue bottle and move it to shake.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Utilize the left arm to hold the cylindrical bottle and shake it.", + "Using the left arm, shake the bottle with blue cap and then place it back.", + "Grab the blue bottle with label carefully and shake.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Pick up the handheld bottle and shake it.", + "Grip the white and blue bottle using the left arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift the cylindrical bottle and shake it gently.", + "Shake the bottle for liquids after holding it firmly.", + "Secure the blue bottle with label and perform a shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Lift up the bottle for liquids using the left arm, then shake.", + "Hold the bottle for liquids and shake it properly.", + "Shake the the bottle with blue cap properly after lifting.", + "Secure the white and blue bottle, shake it, and place it down.", + "Shake the bottle for liquids using the left arm after grabbing.", + "Use the left arm to grab the medium-sized bottle and shake it.", + "Shake the blue bottle after grabbing it.", + "Take the white bottle with blue accents using the left arm and give it a shake.", + "Shake the white bottle with blue accents after lifting it.", + "Shake the white and blue bottle firmly after grabbing.", + "Pick up the bottle for liquids and shake it well.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Shake the medium-sized bottle after grabbing it.", + "Grab the cylindrical bottle and give it a shake.", + "Pick the blue bottle up using the left arm and shake it.", + "Lift the medium-sized bottle with the left arm and shake it.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Hold the plastic bottle, shake it briefly.", + "Use the left arm to pick and shake the white and blue bottle.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grab the medium-sized bottle firmly, shake it, and put it down.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Shake the white bottle with blue accents after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to grab the handheld bottle and shake properly.", + "Grab the blue bottle with label and shake it steadily.", + "Grab the blue bottle with the left arm and shake.", + "Hold the handheld bottle steady, then shake it.", + "Lift the white and blue bottle with the left arm and shake.", + "Pick the plastic bottle and perform shaking motion.", + "Grab the white bottle with blue accents using the left arm, then shake.", + "Grab and shake the blue bottle with label using the left arm.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Grab the medium-sized bottle and move it to shake." + ], + "unseen": [ + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode38.json b/shake_bottle/arx-x5_clean_50/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..78a8e4bfd09b6c69b72e71920e64ab0a3a41e249 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the smooth brown bottle with the left arm and shake it.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake.", + "Hold the bottle with dark brown color steady, then shake it.", + "Take the bottle with brown body and white top using the left arm and give it a shake.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Use the left arm to pick and shake the handheld brown bottle with white lid.", + "Use the left arm to hold the medium plastic bottle and shake it.", + "Lift up the medium bottle with smooth texture using the left arm, then shake.", + "Pick the bottle with dark brown color up with the left arm and shake.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Catch the bottle with white cap and shake it instantly.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Grab the smooth brown bottle and move it to shake.", + "Shake the smooth brown bottle after holding it firmly.", + "Grab the medium bottle with smooth texture using the left arm, then shake.", + "With the left arm, pick the handheld brown bottle with white lid and shake properly.", + "Hold and shake the the bottle with brown body and white top carefully.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Grab the rounded bottle with printed details and give it a shake.", + "Pick the smooth brown bottle, shake it with the left arm.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Grip the bottle with white cap using the left arm and shake.", + "Grab and shake the bottle with white cap using the left arm.", + "Shake the plastic bottle for liquids after grabbing it.", + "Grab the medium plastic bottle carefully and shake.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Pick up the bottle with dark brown color and shake it.", + "Lift the bottle with white cap and shake it gently.", + "Shake the smooth brown bottle firmly after grabbing.", + "Use the left arm to grab the smooth brown bottle and shake properly.", + "Grab the plastic bottle for liquids with the left arm and shake.", + "Secure the smooth brown bottle and perform a shake.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Pick the white-capped brown cylindrical bottle up using the left arm and shake it.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Utilize the left arm to hold the medium bottle with smooth texture and shake it.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Lift the rounded bottle with printed details with the left arm and shake it.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Use the left arm to grab the plastic bottle for liquids and shake it.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Using the left arm, shake the bottle with dark brown color and then place it back.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Shake the bottle with white cap after lifting it.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Shake the medium plastic bottle after grabbing it.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Pick up the bottle with white cap and shake it well.", + "Grasp the rounded bottle with printed details with the left arm and shake it.", + "Lift the bottle with dark brown color with the left arm and shake.", + "Hold the plastic bottle with printed label steady, then shake it.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "Use the left arm to pick and shake the bottle with white cap.", + "Use the left arm to hold the medium bottle with smooth texture and shake it.", + "Lift up the plastic bottle for liquids using the left arm, then shake.", + "Pick the medium plastic bottle up with the left arm and shake.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Shake the bottle with white cap after grabbing it.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Grab the bottle with white cap and move it to shake.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Grab the bottle with brown body and white top using the left arm, then shake.", + "With the left arm, pick the medium plastic bottle and shake properly.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Pick the plastic bottle for liquids, shake it with the left arm.", + "Shake the plastic bottle with printed label thoroughly after grabbing it.", + "Hold the bottle with white cap with the left arm and shake lightly.", + "Grip the bottle with white cap using the left arm and shake.", + "Grab and shake the plastic bottle with printed label using the left arm.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Grab the plastic bottle with printed label carefully and shake.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Pick up the bottle with brown body and white top and shake it.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Grab the white-capped brown cylindrical bottle with the left arm and shake.", + "Secure the rounded bottle with printed details and perform a shake.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Utilize the left arm to hold the bottle with dark brown color and shake it.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Lift the plastic bottle with printed label with the left arm and shake it.", + "Shake the plastic bottle with printed label using the left arm after grabbing.", + "Use the left arm to grab the medium bottle with smooth texture and shake it.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Shake the medium plastic bottle after lifting it.", + "Hold the bottle with white cap, shake it briefly.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Pick up the smooth brown bottle and shake it well." + ], + "unseen": [ + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode39.json b/shake_bottle/arx-x5_clean_50/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..51982597446474b4e30a6fa6ad4ad0a373f1ac02 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with white cap thoroughly after grabbing it.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Grab and shake the medium bottle with smooth texture using the right arm.", + "Lift the plastic bottle with printed label with the right arm and give it a shake.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake it.", + "Hold the plastic bottle for liquids with the right arm and shake lightly.", + "Using the right arm, shake the plastic bottle with printed label and then place it back.", + "With the right arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Use the right arm to grab the plastic bottle for liquids and shake properly.", + "Use the right arm to pick and shake the bottle with dark brown color.", + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Use the right arm to lift and shake the plastic bottle for liquids.", + "Utilize the right arm to hold the medium bottle with smooth texture and shake it.", + "Grab the rounded bottle with printed details and move it to shake.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Hold the bottle with white cap and shake it properly.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Grasp the bottle with brown body and white top with the right arm and shake it.", + "Hold the cylindrical bottle with narrow neck, shake it briefly.", + "Pick up the bottle with brown body and white top and shake it.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Shake the smooth brown bottle after grabbing it.", + "Secure the cylindrical bottle with narrow neck and perform a shake.", + "Grab the smooth brown bottle and give it a shake.", + "Take the rounded bottle with printed details using the right arm and give it a shake.", + "Grip the white-capped brown cylindrical bottle using the right arm and shake.", + "Shake the medium plastic bottle after lifting it.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Grab the plastic bottle for liquids using the right arm, then shake.", + "Pick the medium plastic bottle up with the right arm and shake.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Pick the white-capped brown cylindrical bottle, shake it with the right arm.", + "Lift the medium plastic bottle and shake it gently.", + "Shake the medium bottle with smooth texture after holding it firmly.", + "Shake the bottle with brown body and white top using the right arm after grabbing.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Lift up the handheld brown bottle with white lid using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Grab the handheld brown bottle with white lid with the right arm and shake.", + "Pick the handheld brown bottle with white lid up using the right arm and shake it.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Use the right arm to hold the bottle with dark brown color and shake it.", + "Lift the bottle with white cap with the right arm and shake.", + "Hold and shake the the bottle with dark brown color carefully.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "Hold the bottle with dark brown color steady, then shake it.", + "Grab and shake the bottle with white cap using the right arm.", + "Lift the white-capped brown cylindrical bottle with the right arm and give it a shake.", + "Lift the plastic bottle with printed label with the right arm and shake it.", + "Hold the smooth brown bottle with the right arm and shake lightly.", + "Using the right arm, shake the cylindrical bottle with narrow neck and then place it back.", + "With the right arm, pick the bottle with brown body and white top and shake properly.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Grab the plastic bottle for liquids firmly, shake it, and put it down.", + "Grab the bottle with dark brown color carefully and shake.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Use the right arm to grab the bottle with brown body and white top and shake properly.", + "Use the right arm to pick and shake the smooth brown bottle.", + "Pick up the smooth brown bottle and shake it well.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Utilize the right arm to hold the rounded bottle with printed details and shake it.", + "Grab the smooth brown bottle and move it to shake.", + "Secure the bottle with white cap, shake it, and place it down.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake it.", + "Grasp the plastic bottle with printed label with the right arm and shake it.", + "Hold the plastic bottle for liquids, shake it briefly.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Secure the rounded bottle with printed details and perform a shake.", + "Grab the medium plastic bottle and give it a shake.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Grip the bottle with dark brown color using the right arm and shake.", + "Shake the smooth brown bottle after lifting it.", + "Pick the bottle with white cap and perform shaking motion.", + "Grab the rounded bottle with printed details using the right arm, then shake.", + "Pick the rounded bottle with printed details up with the right arm and shake.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Pick the plastic bottle for liquids, shake it with the right arm.", + "Lift the plastic bottle for liquids and shake it gently.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Shake the rounded bottle with printed details using the right arm after grabbing.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Lift up the medium bottle with smooth texture using the right arm, then shake.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Grab the cylindrical bottle with narrow neck with the right arm and shake.", + "Pick the bottle with white cap up using the right arm and shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Use the right arm to hold the cylindrical bottle with narrow neck and shake it.", + "Lift the bottle with dark brown color with the right arm and shake.", + "Hold and shake the the handheld brown bottle with white lid carefully." + ], + "unseen": [ + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode4.json b/shake_bottle/arx-x5_clean_50/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..19fa7ca146673bc159a622b527362d58d5da6202 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Shake the bottle with green cap firmly after grabbing.", + "Grasp the dark brown bottle with a squared body with the left arm and shake it.", + "Pick the brown bottle with rounded rectangular shape and perform shaking motion.", + "Lift the rectangular-shaped bottle with round cap with the left arm and shake.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Using the left arm, shake the medium-sized brown plastic bottle and then place it back.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to grab the brown bottle with rounded rectangular shape and shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Hold the rectangular brown body with white top and shake it properly.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Secure the dark brown bottle with a squared body, shake it, and place it down.", + "Hold the brown bottle with rounded rectangular shape, shake it briefly.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Pick the smooth brown bottle with green label up using the left arm and shake it.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Lift the brown bottle with rounded rectangular shape with the left arm and give it a shake.", + "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Pick the dark brown bottle with a squared body, shake it with the left arm.", + "Hold and shake the the brown bottle with rounded rectangular shape carefully.", + "Pick up the bottle with green cap and shake it.", + "Pick the rectangular brown body with white top up with the left arm and shake.", + "Hold the medium-sized brown plastic bottle steady, then shake it.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Use the left arm to lift and shake the brown bottle.", + "Shake the rectangular brown body with white top after grabbing it.", + "Lift the bottle with green cap with the left arm and shake it.", + "Lift up the rectangular brown body with white top using the left arm, then shake.", + "Grip the smooth brown bottle with green label using the left arm and shake.", + "Grab the dark brown bottle with a squared body and move it to shake.", + "Grab the dark brown bottle with a squared body using the left arm, then shake.", + "Grab the medium-sized brown plastic bottle with the left arm and shake.", + "Grab and shake the brown bottle using the left arm.", + "Lift the medium-sized brown plastic bottle and shake it gently.", + "Shake the rectangular brown body with white top after lifting it.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Shake the smooth plastic bottle with white cap using the left arm after grabbing.", + "Shake the rectangular-shaped bottle with round cap after holding it firmly.", + "Take the dark brown bottle with a squared body using the left arm and give it a shake.", + "Secure the rectangular-shaped bottle with round cap and perform a shake.", + "Grab the medium-sized brown plastic bottle and shake it steadily.", + "Pick up the medium bottle with glossy surface and shake it well.", + "Use the left arm to lift and shake the brown bottle.", + "Use the left arm to pick and shake the dark brown bottle with a squared body.", + "Utilize the left arm to hold the medium-sized brown plastic bottle and shake it.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Shake the brown bottle with rounded rectangular shape firmly after grabbing.", + "Grasp the bottle with flat sides and logo with the left arm and shake it.", + "Pick the rectangular-shaped bottle with round cap and perform shaking motion.", + "Lift the bottle with green cap with the left arm and shake.", + "Use the left arm to grab the brown bottle with rounded rectangular shape and shake properly.", + "Hold the bottle with green cap with the left arm and shake lightly.", + "Using the left arm, shake the smooth brown bottle with green label and then place it back.", + "Shake the the brown bottle properly after lifting.", + "Use the left arm to grab the smooth brown bottle with green label and shake it.", + "With the left arm, pick the bottle with green cap and shake properly.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Hold the dark brown bottle with a squared body and shake it properly.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Secure the bottle with flat sides and logo, shake it, and place it down.", + "Hold the smooth plastic bottle with white cap, shake it briefly.", + "Grab the brown bottle with rounded rectangular shape carefully and shake.", + "Pick the bottle with flat sides and logo up using the left arm and shake it.", + "Shake the medium bottle with glossy surface thoroughly after grabbing it.", + "Use the left arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Lift the rectangular-shaped bottle with round cap with the left arm and give it a shake.", + "Grab the smooth plastic bottle with white cap firmly, shake it, and put it down.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Pick the dark brown bottle with a squared body, shake it with the left arm.", + "Hold and shake the the medium bottle with glossy surface carefully.", + "Pick up the rectangular-shaped bottle with round cap and shake it.", + "Pick the bottle with flat sides and logo up with the left arm and shake.", + "Hold the brown bottle steady, then shake it.", + "Lift the rectangular brown body with white top and shake it thoroughly.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Lift the smooth plastic bottle with white cap with the left arm and shake it.", + "Lift up the rectangular-shaped bottle with round cap using the left arm, then shake.", + "Grip the medium bottle with glossy surface using the left arm and shake.", + "Grab the dark brown bottle with a squared body and move it to shake.", + "Grab the smooth brown bottle with green label using the left arm, then shake.", + "Grab the smooth brown bottle with green label with the left arm and shake.", + "Grab and shake the brown bottle with rounded rectangular shape using the left arm.", + "Lift the bottle with flat sides and logo and shake it gently.", + "Shake the smooth plastic bottle with white cap after lifting it.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Shake the brown bottle with rounded rectangular shape using the left arm after grabbing.", + "Shake the brown bottle after holding it firmly.", + "Take the medium bottle with glossy surface using the left arm and give it a shake.", + "Secure the medium-sized brown plastic bottle and perform a shake.", + "Grab the smooth brown bottle with green label and shake it steadily.", + "Pick up the rectangular-shaped bottle with round cap and shake it well.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Use the left arm to pick and shake the smooth brown bottle with green label." + ], + "unseen": [ + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode40.json b/shake_bottle/arx-x5_clean_50/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..31365a2535c0031930f8408b03610e0e79842d18 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle carefully and shake.", + "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.", + "Grab the bottle with orange cap using the right arm, then shake.", + "Shake the yellow label bottle firmly after grabbing.", + "Use the right arm to grab the yellow label bottle and shake properly.", + "Pick up the bottle with orange cap and shake it.", + "Shake the bottle with orange cap thoroughly after grabbing it.", + "Catch the medium orange bottle and shake it instantly.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Grab the medium orange bottle and give it a shake.", + "Use the right arm to lift and shake the medium bottle with orange lid.", + "Take the medium bottle with orange lid using the right arm and give it a shake.", + "Use the right arm to lift and shake the orange and white bottle with cap.", + "Shake the orange and white bottle with cap using the right arm after grabbing.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Shake the the orange bottle properly after lifting.", + "Shake the bottle with orange cap after grabbing it.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Secure the cylindrical orange and white bottle, shake it, and place it down.", + "Pick the plastic bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Lift the orange bottle and shake it thoroughly.", + "Use the right arm to hold the cylindrical orange and white bottle and shake it.", + "Pick up the medium bottle with orange lid and shake it well.", + "Hold the plastic bottle and shake it properly.", + "Use the right arm to grab the orange and white bottle with cap and shake it.", + "Grab and shake the drinking bottle with yellow label using the right arm.", + "Utilize the right arm to hold the medium bottle with orange lid and shake it.", + "Use the right arm to pick and shake the bottle with orange cap.", + "Grab the medium orange bottle firmly, shake it, and put it down.", + "Lift the medium orange bottle and shake it gently.", + "Grab the medium bottle with orange lid with the right arm and shake.", + "Grip the plastic bottle using the right arm and shake.", + "Shake the orange and white bottle with cap after holding it firmly.", + "Pick the cylindrical orange and white bottle, shake it with the right arm.", + "Grab the cylindrical orange and white bottle and shake it steadily.", + "Shake the bottle with ribbed orange bottom after lifting it.", + "Hold and shake the the orange bottle carefully.", + "Lift the orange bottle with the right arm and shake it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Pick the medium orange bottle up with the right arm and shake.", + "Grasp the yellow label bottle with the right arm and shake it.", + "Grab the orange bottle and move it to shake.", + "Lift the white and orange plastic bottle with the right arm and shake.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Hold the medium orange bottle with the right arm and shake lightly.", + "Shake the bottle with orange cap after grabbing it.", + "Lift up the bottle with orange cap using the right arm, then shake.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Grab the yellow label bottle carefully and shake.", + "Lift the orange bottle with the right arm and give it a shake.", + "Grab the bottle with ribbed orange bottom using the right arm, then shake.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Use the right arm to grab the medium orange bottle and shake properly.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Catch the white and orange plastic bottle and shake it instantly.", + "With the right arm, pick the drinking bottle with yellow label and shake properly.", + "Grab the plastic bottle and give it a shake.", + "Use the right arm to lift and shake the orange and white bottle with cap.", + "Take the orange bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the orange bottle.", + "Shake the bottle with ribbed orange bottom using the right arm after grabbing.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Shake the the bottle with orange cap properly after lifting.", + "Shake the white and orange plastic bottle after grabbing it.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Secure the white and orange plastic bottle, shake it, and place it down.", + "Pick the drinking bottle with yellow label up using the right arm and shake it.", + "Use the right arm to lift and shake the medium bottle with orange lid.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with orange cap and shake it thoroughly.", + "Use the right arm to hold the drinking bottle with yellow label and shake it.", + "Pick up the bottle with ribbed orange bottom and shake it well.", + "Hold the yellow label bottle and shake it properly.", + "Use the right arm to grab the white and orange plastic bottle and shake it.", + "Grab and shake the cylindrical orange and white bottle using the right arm.", + "Utilize the right arm to hold the orange bottle and shake it.", + "Use the right arm to pick and shake the cylindrical orange and white bottle.", + "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.", + "Lift the orange bottle and shake it gently.", + "Grab the white and orange plastic bottle with the right arm and shake.", + "Grip the bottle with orange cap using the right arm and shake.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Pick the yellow label bottle, shake it with the right arm.", + "Grab the orange bottle and shake it steadily.", + "Shake the white and orange plastic bottle after lifting it.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Lift the bottle with ribbed orange bottom with the right arm and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Pick the medium bottle with orange lid up with the right arm and shake.", + "Grasp the orange and white bottle with cap with the right arm and shake it.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Lift the orange and white bottle with cap with the right arm and shake.", + "Secure the orange and white bottle with cap and perform a shake.", + "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Lift up the orange and white bottle with cap using the right arm, then shake.", + "Using the right arm, shake the yellow label bottle and then place it back." + ], + "unseen": [ + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the right arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the right arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode41.json b/shake_bottle/arx-x5_clean_50/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..1403231e9b461678b02c2f754e17db09731aa84d --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow body bottle carefully and shake.", + "Lift the handheld bottle and shake it gently.", + "Use the right arm to lift and shake the yellow bottle with cylindrical cap.", + "Grip the bottle with white cap using the right arm and shake.", + "Take the rectangular bottle using the right arm and give it a shake.", + "Lift the rectangular bottle with the right arm and shake.", + "Use the right arm to lift and shake the yellow bottle.", + "Pick up the bottle for liquids and shake it.", + "Grab the yellow body bottle and move it to shake.", + "Use the right arm to pick and shake the handheld bottle.", + "Hold the handheld bottle, shake it briefly.", + "Pick the yellow bottle with green label up with the right arm and shake.", + "Shake the yellow bottle with cylindrical cap firmly after grabbing.", + "Shake the yellow bottle after grabbing it.", + "Use the right arm to lift and shake the handheld bottle.", + "Catch the handheld bottle and shake it instantly.", + "Use the right arm to hold the yellow bottle with green label and shake it.", + "Shake the bottle for liquids after holding it firmly.", + "Grab the plastic bottle using the right arm, then shake.", + "Using the right arm, shake the yellow bottle and then place it back.", + "Pick the plastic bottle, shake it with the right arm.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Lift up the yellow bottle with cylindrical cap using the right arm, then shake.", + "Shake the rectangular bottle thoroughly after grabbing it.", + "Pick the bottle with white cap up using the right arm and shake it.", + "Lift the yellow bottle with cylindrical cap with the right arm and give it a shake.", + "Grasp the rectangular bottle with the right arm and shake it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Lift the bottle with green and white label and shake it thoroughly.", + "Shake the bottle with white cap after grabbing it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Grab and shake the yellow bottle with flower design using the right arm.", + "Shake the rectangular bottle after grabbing it.", + "Hold the rectangular bottle steady, then shake it.", + "Grab the plastic bottle with the right arm and shake.", + "Hold and shake the the yellow body bottle carefully.", + "Grab the bottle with green and white label and shake it steadily.", + "Shake the bottle with green and white label after lifting it.", + "Pick the yellow bottle with cylindrical cap and perform shaking motion.", + "Grab the bottle for liquids and give it a shake.", + "Use the right arm to grab the plastic bottle and shake it.", + "Utilize the right arm to hold the bottle with green and white label and shake it.", + "Shake the the yellow body bottle properly after lifting.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Secure the rectangular bottle and perform a shake.", + "Pick up the yellow bottle with green label and shake it well.", + "Hold the yellow bottle with green label and shake it properly.", + "Lift the yellow bottle with green label with the right arm and shake it.", + "Secure the yellow bottle with cylindrical cap, shake it, and place it down.", + "Grab the yellow bottle with green label carefully and shake.", + "Lift the yellow bottle and shake it gently.", + "Use the right arm to lift and shake the bottle for liquids.", + "Grip the yellow bottle with flower design using the right arm and shake.", + "Take the yellow bottle with green label using the right arm and give it a shake.", + "Lift the yellow bottle with green label with the right arm and shake.", + "Use the right arm to lift and shake the yellow bottle with cylindrical cap.", + "Pick up the plastic bottle and shake it.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to pick and shake the yellow bottle with flower design.", + "Hold the yellow bottle with flower design, shake it briefly.", + "Pick the smooth yellow plastic bottle up with the right arm and shake.", + "Shake the handheld bottle firmly after grabbing.", + "Shake the smooth yellow plastic bottle after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Catch the yellow bottle with flower design and shake it instantly.", + "Use the right arm to hold the rectangular bottle and shake it.", + "Shake the rectangular bottle after holding it firmly.", + "Grab the rectangular bottle using the right arm, then shake.", + "Using the right arm, shake the yellow body bottle and then place it back.", + "Pick the yellow bottle with cylindrical cap, shake it with the right arm.", + "Grab the yellow body bottle firmly, shake it, and put it down.", + "Lift up the yellow bottle with green label using the right arm, then shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Pick the handheld bottle up using the right arm and shake it.", + "Lift the smooth yellow plastic bottle with the right arm and give it a shake.", + "Grasp the bottle with green and white label with the right arm and shake it.", + "Shake the bottle with white cap using the right arm after grabbing.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the bottle for liquids after grabbing it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Grab and shake the handheld bottle using the right arm.", + "Shake the bottle with white cap after grabbing it.", + "Hold the bottle with white cap steady, then shake it.", + "Grab the yellow bottle with cylindrical cap with the right arm and shake.", + "Hold and shake the the yellow body bottle carefully.", + "Grab the handheld bottle and shake it steadily.", + "Shake the smooth yellow plastic bottle after lifting it.", + "Pick the smooth yellow plastic bottle and perform shaking motion.", + "Grab the yellow bottle and give it a shake.", + "Use the right arm to grab the plastic bottle and shake it.", + "Utilize the right arm to hold the bottle for liquids and shake it.", + "Shake the the yellow bottle with cylindrical cap properly after lifting.", + "With the right arm, pick the handheld bottle and shake properly.", + "Use the right arm to grab the yellow bottle with cylindrical cap and shake properly.", + "Secure the yellow bottle with flower design and perform a shake.", + "Pick up the yellow bottle and shake it well.", + "Hold the yellow body bottle and shake it properly.", + "Lift the yellow body bottle with the right arm and shake it.", + "Secure the handheld bottle, shake it, and place it down." + ], + "unseen": [ + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with printed label with the right arm and shake.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges.", + "Pick and shake the the medium bottle with the right arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the medium bottle and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label with the right arm and shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Pick and shake the the medium bottle with the right arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode42.json b/shake_bottle/arx-x5_clean_50/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..621047c79844b50c12d43614005a0a2baed12c98 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with green cap using the right arm, then shake.", + "Hold the cylindrical bottle with white label steady, then shake it.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Hold the bottle with green cap with the right arm and shake lightly.", + "Pick up the hand-sized bottle with grooves and shake it well.", + "Shake the small brown plastic bottle after grabbing it.", + "Pick the plastic bottle with ribbed pattern up using the right arm and shake it.", + "Use the right arm to grab the cylindrical bottle with white label and shake properly.", + "Using the right arm, shake the hand-sized bottle with grooves and then place it back.", + "Catch the small drink bottle with logo and shake it instantly.", + "Grab the cylindrical bottle with white label and give it a shake.", + "Lift the plastic bottle with ribbed pattern and shake it thoroughly.", + "With the right arm, pick the brown bottle with green screw-on cap and shake properly.", + "Lift the smooth plastic bottle for beverages with the right arm and shake it.", + "Lift up the brown bottle using the right arm, then shake.", + "Hold the bottle with tapered cylindrical shape and shake it properly.", + "Shake the smooth plastic bottle for beverages after holding it firmly.", + "Hold and shake the the brown bottle with green screw-on cap carefully.", + "Grab the bottle with tapered cylindrical shape with the right arm and shake.", + "Lift the smooth plastic bottle for beverages with the right arm and shake.", + "Use the right arm to lift and shake the green-capped bottle.", + "Use the right arm to hold the smooth plastic bottle for beverages and shake it.", + "Use the right arm to lift and shake the hand-sized bottle with grooves.", + "Pick the brown bottle and perform shaking motion.", + "Grab the plastic bottle with ribbed pattern and move it to shake.", + "Grab the brown bottle with green screw-on cap carefully and shake.", + "Shake the hand-sized bottle with grooves using the right arm after grabbing.", + "Hold the brown bottle, shake it briefly.", + "Secure the brown bottle with green screw-on cap and perform a shake.", + "Shake the green-capped bottle after grabbing it.", + "Take the bottle with tapered cylindrical shape using the right arm and give it a shake.", + "Grip the small drink bottle with logo using the right arm and shake.", + "Lift the bottle with tapered cylindrical shape and shake it gently.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Grab the cylindrical bottle with white label and shake it steadily.", + "Shake the cylindrical bottle with white label after lifting it.", + "Lift the green-capped bottle with the right arm and give it a shake.", + "Pick the brown bottle with white printed label, shake it with the right arm.", + "Shake the brown bottle firmly after grabbing.", + "Shake the the small drink bottle with logo properly after lifting.", + "Pick the smooth plastic bottle for beverages up with the right arm and shake.", + "Use the right arm to pick and shake the smooth plastic bottle for beverages.", + "Grab and shake the green-capped bottle using the right arm.", + "Grasp the small brown plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the small drink bottle with logo and shake it.", + "Use the right arm to grab the bottle with tapered cylindrical shape and shake it.", + "Shake the brown bottle with white printed label thoroughly after grabbing it.", + "Grab the bottle with tapered cylindrical shape firmly, shake it, and put it down.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Secure the brown bottle with green screw-on cap, shake it, and place it down.", + "Grab the brown bottle with green screw-on cap using the right arm, then shake.", + "Hold the brown bottle with white printed label steady, then shake it.", + "Shake the small drink bottle with logo after grabbing it.", + "Hold the hand-sized bottle with grooves with the right arm and shake lightly.", + "Pick up the bottle with green cap and shake it well.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Pick the hand-sized bottle with grooves up using the right arm and shake it.", + "Use the right arm to grab the bottle with green cap and shake properly.", + "Using the right arm, shake the bottle with green cap and then place it back.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Grab the small brown plastic bottle and give it a shake.", + "Lift the plastic bottle with ribbed pattern and shake it thoroughly.", + "With the right arm, pick the brown bottle with green screw-on cap and shake properly.", + "Lift the cylindrical bottle with white label with the right arm and shake it.", + "Lift up the small drink bottle with logo using the right arm, then shake.", + "Hold the bottle with tapered cylindrical shape and shake it properly.", + "Shake the brown bottle with green screw-on cap after holding it firmly.", + "Hold and shake the the bottle with green cap carefully.", + "Grab the hand-sized bottle with grooves with the right arm and shake.", + "Lift the smooth plastic bottle for beverages with the right arm and shake.", + "Use the right arm to lift and shake the smooth plastic bottle for beverages.", + "Use the right arm to hold the cylindrical bottle with white label and shake it.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Pick the green-capped bottle and perform shaking motion.", + "Grab the cylindrical bottle with white label and move it to shake.", + "Grab the brown bottle with white printed label carefully and shake.", + "Shake the brown bottle using the right arm after grabbing.", + "Hold the small drink bottle with logo, shake it briefly.", + "Secure the small brown plastic bottle and perform a shake.", + "Shake the bottle with green cap after grabbing it.", + "Take the hand-sized bottle with grooves using the right arm and give it a shake.", + "Grip the green-capped bottle using the right arm and shake.", + "Lift the plastic bottle with ribbed pattern and shake it gently.", + "Use the right arm to lift and shake the plastic bottle with ribbed pattern.", + "Grab the green-capped bottle and shake it steadily.", + "Shake the brown bottle after lifting it.", + "Lift the smooth plastic bottle for beverages with the right arm and give it a shake.", + "Pick the smooth plastic bottle for beverages, shake it with the right arm.", + "Shake the hand-sized bottle with grooves firmly after grabbing.", + "Shake the the brown bottle with white printed label properly after lifting.", + "Pick the plastic bottle with ribbed pattern up with the right arm and shake.", + "Use the right arm to pick and shake the brown bottle with white printed label.", + "Grab and shake the green-capped bottle using the right arm.", + "Grasp the cylindrical bottle with white label with the right arm and shake it.", + "Utilize the right arm to hold the small drink bottle with logo and shake it.", + "Use the right arm to grab the small drink bottle with logo and shake it.", + "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.", + "Grab the bottle with green cap firmly, shake it, and put it down.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Secure the brown bottle with green screw-on cap, shake it, and place it down." + ], + "unseen": [ + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode43.json b/shake_bottle/arx-x5_clean_50/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..37a3b8550796e8006e83484126a0bdbedc2475cd --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the beverage bottle with black body and shake it well.", + "Pick the black plastic bottle with Pepsi logo up with the right arm and shake.", + "Hold the yellow-capped cylindrical bottle steady, then shake it.", + "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.", + "Catch the yellow capped drink bottle and shake it instantly.", + "With the right arm, pick the beverage bottle with black body and shake properly.", + "Use the right arm to lift and shake the yellow-capped cylindrical bottle.", + "Take the smooth black bottle with ridges using the right arm and give it a shake.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.", + "Shake the black bottle thoroughly after grabbing it.", + "Lift the black plastic bottle with Pepsi logo with the right arm and shake.", + "Use the right arm to hold the beverage bottle with black body and shake it.", + "Shake the beverage bottle with black body after grabbing it.", + "Grasp the yellow-capped cylindrical bottle with the right arm and shake it.", + "Pick the yellow capped drink bottle and perform shaking motion.", + "Lift the medium black bottle with printed label and shake it thoroughly.", + "Utilize the right arm to hold the beverage bottle with black body and shake it.", + "Shake the drink bottle with rounded yellow lid using the right arm after grabbing.", + "Secure the bottle with blue and yellow print and perform a shake.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Lift the plastic bottle with colorful label with the right arm and give it a shake.", + "Grab the smooth black bottle with ridges using the right arm, then shake.", + "Lift up the medium black bottle with printed label using the right arm, then shake.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Grab the drink bottle with rounded yellow lid carefully and shake.", + "Hold and shake the the drink bottle with rounded yellow lid carefully.", + "Hold the smooth black bottle with ridges with the right arm and shake lightly.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Using the right arm, shake the beverage bottle with black body and then place it back.", + "Use the right arm to lift and shake the plastic bottle with colorful label.", + "Shake the black bottle firmly after grabbing.", + "Grab the black cylindrical bottle with ridges and move it to shake.", + "Grip the yellow capped drink bottle using the right arm and shake.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Grab the medium bottle with yellow cap with the right arm and shake.", + "Grab the bottle with blue and yellow print and shake it steadily.", + "Hold the drink bottle with rounded yellow lid, shake it briefly.", + "Use the right arm to lift and shake the black bottle.", + "Use the right arm to pick and shake the yellow-capped cylindrical bottle.", + "Pick up the smooth black bottle with ridges and shake it.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Lift the yellow-capped cylindrical bottle with the right arm and shake it.", + "Use the right arm to grab the medium bottle with yellow cap and shake properly.", + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Grab and shake the yellow capped drink bottle using the right arm.", + "Pick the medium bottle with yellow cap up using the right arm and shake it.", + "Use the right arm to grab the beverage bottle with black body and shake it.", + "Shake the black plastic bottle with Pepsi logo after lifting it.", + "Shake the black cylindrical bottle with ridges after holding it firmly.", + "Pick up the black cylindrical bottle with ridges and shake it well.", + "Pick the bottle with blue and yellow print up with the right arm and shake.", + "Hold the drink bottle with rounded yellow lid steady, then shake it.", + "Pick the smooth black bottle with ridges, shake it with the right arm.", + "Catch the yellow-capped cylindrical bottle and shake it instantly.", + "With the right arm, pick the yellow-capped cylindrical bottle and shake properly.", + "Use the right arm to lift and shake the bottle with blue and yellow print.", + "Take the black plastic bottle with Pepsi logo using the right arm and give it a shake.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Shake the medium black bottle with printed label thoroughly after grabbing it.", + "Lift the black bottle with the right arm and shake.", + "Use the right arm to hold the black bottle and shake it.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Grasp the bottle with blue and yellow print with the right arm and shake it.", + "Pick the black bottle and perform shaking motion.", + "Lift the yellow-capped cylindrical bottle and shake it thoroughly.", + "Utilize the right arm to hold the yellow-capped cylindrical bottle and shake it.", + "Shake the bottle with blue and yellow print using the right arm after grabbing.", + "Secure the drink bottle with rounded yellow lid and perform a shake.", + "Shake the yellow capped drink bottle after grabbing it.", + "Lift the bottle with blue and yellow print with the right arm and give it a shake.", + "Grab the plastic bottle with colorful label using the right arm, then shake.", + "Lift up the black cylindrical bottle with ridges using the right arm, then shake.", + "Grab the bottle with blue and yellow print firmly, shake it, and put it down.", + "Grab the medium black bottle with printed label carefully and shake.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Hold the bottle with blue and yellow print with the right arm and shake lightly.", + "Hold the black bottle and shake it properly.", + "Using the right arm, shake the bottle with blue and yellow print and then place it back.", + "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Grab the black cylindrical bottle with ridges and move it to shake.", + "Grip the plastic bottle with colorful label using the right arm and shake.", + "Shake the the yellow-capped cylindrical bottle properly after lifting.", + "Grab the medium black bottle with printed label with the right arm and shake.", + "Grab the yellow-capped cylindrical bottle and shake it steadily.", + "Hold the beverage bottle with black body, shake it briefly.", + "Use the right arm to lift and shake the yellow-capped cylindrical bottle.", + "Use the right arm to pick and shake the medium black bottle with printed label.", + "Pick up the black plastic bottle with Pepsi logo and shake it.", + "Lift the black bottle and shake it gently.", + "Lift the black cylindrical bottle with ridges with the right arm and shake it.", + "Use the right arm to grab the yellow capped drink bottle and shake properly.", + "Grab the black cylindrical bottle with ridges and give it a shake.", + "Grab and shake the black plastic bottle with Pepsi logo using the right arm.", + "Pick the beverage bottle with black body up using the right arm and shake it.", + "Use the right arm to grab the bottle with blue and yellow print and shake it.", + "Shake the beverage bottle with black body after lifting it.", + "Shake the medium black bottle with printed label after holding it firmly." + ], + "unseen": [ + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode44.json b/shake_bottle/arx-x5_clean_50/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..2d140da5efa46b150ab80f14924322e0c308551a --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the handheld bottle with the right arm and shake.", + "Grip the bottle with blue cap using the right arm and shake.", + "Use the right arm to grab the cylindrical bottle and shake properly.", + "Grasp the blue bottle with the right arm and shake it.", + "Grab the cylindrical bottle and move it to shake.", + "Lift the bottle for liquids with the right arm and shake.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the blue bottle with label.", + "Pick the blue bottle with label and perform shaking motion.", + "Grab the cylindrical bottle carefully and shake.", + "With the right arm, pick the cylindrical bottle and shake properly.", + "Hold the medium-sized bottle steady, then shake it.", + "Utilize the right arm to hold the medium bottle for beverages and shake it.", + "Pick up the bottle for liquids and shake it.", + "Lift the medium bottle for beverages with the right arm and shake it.", + "Lift the handheld bottle and shake it gently.", + "Shake the blue bottle with label after holding it firmly.", + "Take the blue bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the white and blue bottle.", + "Catch the medium-sized bottle and shake it instantly.", + "Pick the bottle for liquids up with the right arm and shake.", + "Secure the smooth plastic bottle and perform a shake.", + "Using the right arm, shake the handheld bottle and then place it back.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the blue bottle up using the right arm and shake it.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Hold and shake the the blue bottle with label carefully.", + "Shake the bottle with blue cap after grabbing it.", + "Pick up the bottle with blue cap and shake it well.", + "Hold the white and blue bottle, shake it briefly.", + "Use the right arm to pick and shake the medium bottle for beverages.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the white bottle with blue accents and shake it properly.", + "Shake the white bottle with blue accents using the right arm after grabbing.", + "Grab the bottle for liquids and shake it steadily.", + "Shake the bottle for liquids after grabbing it.", + "Grab the handheld bottle using the right arm, then shake.", + "Grab and shake the blue bottle with label using the right arm.", + "Shake the the cylindrical bottle properly after lifting.", + "Use the right arm to hold the medium bottle for beverages and shake it.", + "Use the right arm to grab the handheld bottle and shake it.", + "Grab the white and blue bottle and give it a shake.", + "Lift up the medium bottle for beverages using the right arm, then shake.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Pick the plastic bottle, shake it with the right arm.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the cylindrical bottle after lifting it.", + "Use the right arm to lift and shake the bottle for liquids.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Grip the blue bottle with label using the right arm and shake.", + "Use the right arm to grab the handheld bottle and shake properly.", + "Grasp the plastic bottle with the right arm and shake it.", + "Grab the bottle with blue cap and move it to shake.", + "Lift the blue bottle with the right arm and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the handheld bottle.", + "Pick the blue bottle with label and perform shaking motion.", + "Grab the handheld bottle carefully and shake.", + "With the right arm, pick the blue bottle and shake properly.", + "Hold the white and blue bottle steady, then shake it.", + "Utilize the right arm to hold the bottle with blue cap and shake it.", + "Pick up the medium bottle for beverages and shake it.", + "Lift the white bottle with blue accents with the right arm and shake it.", + "Lift the medium bottle for beverages and shake it gently.", + "Shake the plastic bottle after holding it firmly.", + "Take the medium-sized bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Catch the handheld bottle and shake it instantly.", + "Pick the bottle for liquids up with the right arm and shake.", + "Secure the smooth plastic bottle and perform a shake.", + "Using the right arm, shake the medium bottle for beverages and then place it back.", + "Shake the medium bottle for beverages firmly after grabbing.", + "Pick the white bottle with blue accents up using the right arm and shake it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold and shake the the plastic bottle carefully.", + "Shake the white bottle with blue accents after grabbing it.", + "Pick up the blue bottle and shake it well.", + "Hold the blue bottle with label, shake it briefly.", + "Use the right arm to pick and shake the bottle for liquids.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Hold the white and blue bottle and shake it properly.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Grab the bottle with blue cap and shake it steadily.", + "Shake the medium bottle for beverages after grabbing it.", + "Grab the medium-sized bottle using the right arm, then shake.", + "Grab and shake the white and blue bottle using the right arm.", + "Shake the the handheld bottle properly after lifting.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Use the right arm to grab the cylindrical bottle and shake it.", + "Grab the handheld bottle and give it a shake.", + "Lift up the medium bottle for beverages using the right arm, then shake.", + "Lift the medium bottle for beverages with the right arm and give it a shake.", + "Pick the blue bottle with label, shake it with the right arm.", + "Grab the medium bottle for beverages firmly, shake it, and put it down.", + "Shake the white and blue bottle after lifting it.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the plastic bottle after grabbing it." + ], + "unseen": [ + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode45.json b/shake_bottle/arx-x5_clean_50/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..18dffa73f518ecc28f3096cbee66d69dcb50ba04 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Lift the bottle with green cap and shake it gently.", + "Shake the bottle with green cap after grabbing it.", + "Lift the rectangular-shaped bottle with round cap and shake it thoroughly.", + "Use the left arm to pick and shake the dark brown bottle with a squared body.", + "Pick up the medium-sized brown plastic bottle and shake it.", + "With the left arm, pick the bottle with green cap and shake properly.", + "Hold the bottle with green cap with the left arm and shake lightly.", + "Shake the smooth brown bottle with green label after lifting it.", + "Grip the rectangular-shaped bottle with round cap using the left arm and shake.", + "Use the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Hold and shake the the medium-sized brown plastic bottle carefully.", + "Take the bottle with green cap using the left arm and give it a shake.", + "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.", + "Grab the smooth plastic bottle with white cap and move it to shake.", + "Shake the medium-sized brown plastic bottle thoroughly after grabbing it.", + "Pick the medium-sized brown plastic bottle, shake it with the left arm.", + "Pick the brown bottle and perform shaking motion.", + "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.", + "Use the left arm to lift and shake the brown bottle.", + "Shake the smooth plastic bottle with white cap using the left arm after grabbing.", + "Grab and shake the smooth brown bottle with green label using the left arm.", + "Shake the bottle with green cap after grabbing it.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Catch the smooth brown bottle with green label and shake it instantly.", + "Use the left arm to grab the plastic bottle and shake it.", + "Pick the medium-sized brown plastic bottle up using the left arm and shake it.", + "Shake the smooth plastic bottle with white cap firmly after grabbing.", + "Grab the rectangular-shaped bottle with round cap and shake it steadily.", + "Lift the bottle with green cap with the left arm and give it a shake.", + "Lift up the brown bottle with rounded rectangular shape using the left arm, then shake.", + "Pick up the smooth plastic bottle with white cap and shake it well.", + "Shake the bottle with green cap after grabbing it.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Grab the smooth plastic bottle with white cap using the left arm, then shake.", + "Lift the brown bottle with the left arm and shake it.", + "Shake the bottle with green cap after holding it firmly.", + "Shake the the rectangular-shaped bottle with round cap properly after lifting.", + "Using the left arm, shake the rectangular brown body with white top and then place it back.", + "Lift the medium bottle with glossy surface with the left arm and shake.", + "Hold the brown bottle with rounded rectangular shape and shake it properly.", + "Grab the brown bottle with the left arm and shake.", + "Hold the smooth brown bottle with green label, shake it briefly.", + "Utilize the left arm to hold the smooth brown bottle with green label and shake it.", + "Pick the brown bottle up with the left arm and shake.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Grasp the medium-sized brown plastic bottle with the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Use the left arm to grab the rectangular brown body with white top and shake properly.", + "Lift the rectangular brown body with white top and shake it gently.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Lift the medium bottle with glossy surface and shake it thoroughly.", + "Use the left arm to pick and shake the brown bottle with rounded rectangular shape.", + "Pick up the smooth plastic bottle with white cap and shake it.", + "With the left arm, pick the bottle with flat sides and logo and shake properly.", + "Hold the brown bottle with rounded rectangular shape with the left arm and shake lightly.", + "Shake the dark brown bottle with a squared body after lifting it.", + "Grip the smooth plastic bottle with white cap using the left arm and shake.", + "Use the left arm to hold the medium bottle with glossy surface and shake it.", + "Hold and shake the the medium-sized brown plastic bottle carefully.", + "Take the bottle with green cap using the left arm and give it a shake.", + "Grab the rectangular-shaped bottle with round cap firmly, shake it, and put it down.", + "Grab the bottle with green cap and move it to shake.", + "Shake the medium bottle with glossy surface thoroughly after grabbing it.", + "Pick the smooth brown bottle with green label, shake it with the left arm.", + "Pick the dark brown bottle with a squared body and perform shaking motion.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the left arm to lift and shake the medium bottle with glossy surface.", + "Shake the rectangular-shaped bottle with round cap using the left arm after grabbing.", + "Grab and shake the plastic bottle using the left arm.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Grab the smooth brown bottle with green label and give it a shake.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Grab the rectangular brown body with white top carefully and shake.", + "Catch the medium-sized brown plastic bottle and shake it instantly.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake it.", + "Pick the rectangular-shaped bottle with round cap up using the left arm and shake it.", + "Shake the medium-sized brown plastic bottle firmly after grabbing.", + "Grab the medium bottle with glossy surface and shake it steadily.", + "Lift the brown bottle with rounded rectangular shape with the left arm and give it a shake.", + "Lift up the dark brown bottle with a squared body using the left arm, then shake.", + "Pick up the plastic bottle and shake it well.", + "Shake the brown bottle after grabbing it.", + "Secure the smooth plastic bottle with white cap and perform a shake.", + "Grab the bottle with flat sides and logo using the left arm, then shake.", + "Lift the medium bottle with glossy surface with the left arm and shake it.", + "Shake the brown bottle after holding it firmly.", + "Shake the the brown bottle properly after lifting.", + "Using the left arm, shake the rectangular brown body with white top and then place it back.", + "Lift the plastic bottle with the left arm and shake.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Grab the bottle with green cap with the left arm and shake.", + "Hold the bottle with green cap, shake it briefly.", + "Utilize the left arm to hold the bottle with flat sides and logo and shake it.", + "Pick the rectangular brown body with white top up with the left arm and shake.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Grasp the brown bottle with the left arm and shake it.", + "Use the left arm to lift and shake the smooth brown bottle with green label." + ], + "unseen": [ + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode46.json b/shake_bottle/arx-x5_clean_50/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..d859cba8380b9692f17ac2ff0f8fc3cb40813ffa --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the light and medium-sized bottle and shake it.", + "Lift the round-bottom bottle with white cap with the left arm and shake.", + "Grab the grooved orange drink bottle carefully and shake.", + "Grasp the smooth orange bottle with the left arm and shake it.", + "Secure the orange bottle, shake it, and place it down.", + "Use the left arm to grab the bottle for holding drinks and shake properly.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Grab and shake the round-bottom bottle with white cap using the left arm.", + "Catch the bottle for holding drinks and shake it instantly.", + "Grab the cylindrical orange plastic bottle using the left arm, then shake.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Shake the light and medium-sized bottle after grabbing it.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift the orange drink bottle with label with the left arm and shake it.", + "Use the left arm to grab the ridged orange bottle with grooves and shake it.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Pick the grooved orange drink bottle, shake it with the left arm.", + "Pick up the orange drink bottle with label and shake it.", + "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.", + "Lift the cylindrical orange plastic bottle and shake it gently.", + "Utilize the left arm to hold the orange drink bottle with label and shake it.", + "Use the left arm to pick and shake the orange drink bottle with label.", + "Use the left arm to lift and shake the grooved orange drink bottle.", + "Grab the orange bottle and move it to shake.", + "Hold the orange drink bottle with label and shake it properly.", + "Secure the bottle for holding drinks and perform a shake.", + "Shake the curved orange soda bottle after holding it firmly.", + "Shake the orange drink bottle with label using the left arm after grabbing.", + "Take the bottle for holding drinks using the left arm and give it a shake.", + "Lift the cylindrical orange plastic bottle with the left arm and give it a shake.", + "With the left arm, pick the light and medium-sized bottle and shake properly.", + "Shake the plastic bottle after lifting it.", + "Lift up the medium bottle with colorful label using the left arm, then shake.", + "Shake the the orange drink bottle with label properly after lifting.", + "Using the left arm, shake the medium bottle with colorful label and then place it back.", + "Grab the curved orange soda bottle and give it a shake.", + "Shake the grooved orange drink bottle thoroughly after grabbing it.", + "Pick the round-bottom bottle with white cap and perform shaking motion.", + "Shake the curved orange soda bottle after grabbing it.", + "Grip the ridged orange bottle with grooves using the left arm and shake.", + "Hold the curved orange soda bottle, shake it briefly.", + "Hold the ridged orange bottle with grooves steady, then shake it.", + "Hold the orange bottle with the left arm and shake lightly.", + "Pick up the smooth orange bottle and shake it well.", + "Grab the light and medium-sized bottle with the left arm and shake.", + "Pick the orange bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Hold and shake the the light and medium-sized bottle carefully.", + "Use the left arm to hold the orange bottle and shake it.", + "Lift the curved orange soda bottle with the left arm and shake.", + "Grab the bottle for holding drinks carefully and shake.", + "Grasp the ridged orange bottle with grooves with the left arm and shake it.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Grab and shake the medium bottle with colorful label using the left arm.", + "Catch the orange drink bottle with label and shake it instantly.", + "Grab the cylindrical orange plastic bottle using the left arm, then shake.", + "Shake the medium bottle with colorful label firmly after grabbing.", + "Grab the smooth orange bottle and shake it steadily.", + "Shake the grooved orange drink bottle after grabbing it.", + "Shake the orange bottle after grabbing it.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift the orange drink bottle with label with the left arm and shake it.", + "Use the left arm to grab the medium bottle with colorful label and shake it.", + "Lift the medium bottle with colorful label and shake it thoroughly.", + "Pick the plastic bottle, shake it with the left arm.", + "Pick up the smooth orange bottle and shake it.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Lift the ridged orange bottle with grooves and shake it gently.", + "Utilize the left arm to hold the medium bottle with colorful label and shake it.", + "Use the left arm to pick and shake the round-bottom bottle with white cap.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Grab the bottle for holding drinks and move it to shake.", + "Hold the plastic bottle and shake it properly.", + "Secure the orange drink bottle with label and perform a shake.", + "Shake the plastic bottle after holding it firmly.", + "Shake the smooth orange bottle using the left arm after grabbing.", + "Take the smooth orange bottle using the left arm and give it a shake.", + "Lift the curved orange soda bottle with the left arm and give it a shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the round-bottom bottle with white cap after lifting it.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Using the left arm, shake the orange bottle and then place it back.", + "Grab the orange drink bottle with label and give it a shake.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Grip the smooth orange bottle using the left arm and shake.", + "Hold the orange bottle, shake it briefly.", + "Hold the bottle for holding drinks steady, then shake it.", + "Hold the light and medium-sized bottle with the left arm and shake lightly.", + "Pick up the smooth orange bottle and shake it well.", + "Grab the orange drink bottle with label with the left arm and shake.", + "Pick the cylindrical orange plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Hold and shake the the light and medium-sized bottle carefully." + ], + "unseen": [ + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode47.json b/shake_bottle/arx-x5_clean_50/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..880aedd414918b4929b2f0feaac0f7bef8384d08 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the white and blue bottle and perform shaking motion.", + "Use the right arm to grab the handheld bottle and shake it.", + "Lift the bottle with blue cap with the right arm and shake it.", + "Use the right arm to hold the handheld bottle and shake it.", + "With the right arm, pick the blue bottle with label and shake properly.", + "Hold the bottle for liquids, shake it briefly.", + "Shake the cylindrical bottle after grabbing it.", + "Lift the white bottle with blue accents with the right arm and shake.", + "Using the right arm, shake the blue bottle with label and then place it back.", + "Hold the bottle with blue cap with the right arm and shake lightly.", + "Use the right arm to lift and shake the white and blue bottle.", + "Shake the white and blue bottle thoroughly after grabbing it.", + "Grab the bottle for liquids carefully and shake.", + "Shake the bottle with blue cap firmly after grabbing.", + "Hold the blue bottle steady, then shake it.", + "Hold and shake the the blue bottle carefully.", + "Grasp the blue bottle with label with the right arm and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Pick the medium-sized bottle up using the right arm and shake it.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to pick and shake the blue bottle.", + "Utilize the right arm to hold the white bottle with blue accents and shake it.", + "Grab the white bottle with blue accents and move it to shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Secure the bottle for liquids and perform a shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Grab the medium-sized bottle using the right arm, then shake.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Pick up the smooth plastic bottle and shake it well.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the white bottle with blue accents after grabbing it.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Lift the bottle for liquids and shake it gently.", + "Shake the the blue bottle properly after lifting.", + "Shake the blue bottle with label after grabbing it.", + "Grab the bottle with blue cap and give it a shake.", + "Grab the white and blue bottle and shake it steadily.", + "Use the right arm to lift and shake the blue bottle.", + "Lift the cylindrical bottle with the right arm and give it a shake.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Pick up the blue bottle with label and shake it.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Shake the white and blue bottle after holding it firmly.", + "Grip the plastic bottle using the right arm and shake.", + "Hold the medium-sized bottle and shake it properly.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Pick the bottle for liquids and perform shaking motion.", + "Use the right arm to grab the white bottle with blue accents and shake it.", + "Lift the bottle for liquids with the right arm and shake it.", + "Use the right arm to hold the plastic bottle and shake it.", + "With the right arm, pick the white bottle with blue accents and shake properly.", + "Hold the cylindrical bottle, shake it briefly.", + "Shake the bottle with blue cap after grabbing it.", + "Lift the blue bottle with the right arm and shake.", + "Using the right arm, shake the blue bottle with label and then place it back.", + "Hold the medium-sized bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Grab the medium-sized bottle carefully and shake.", + "Shake the white and blue bottle firmly after grabbing.", + "Hold the medium bottle for beverages steady, then shake it.", + "Hold and shake the the cylindrical bottle carefully.", + "Grasp the plastic bottle with the right arm and shake it.", + "Catch the medium bottle for beverages and shake it instantly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab the handheld bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Use the right arm to pick and shake the cylindrical bottle.", + "Utilize the right arm to hold the medium bottle for beverages and shake it.", + "Grab the blue bottle and move it to shake.", + "Secure the handheld bottle, shake it, and place it down.", + "Secure the plastic bottle and perform a shake.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Grab the plastic bottle with the right arm and shake.", + "Grab the cylindrical bottle using the right arm, then shake.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Pick up the medium-sized bottle and shake it well.", + "Pick the bottle for liquids up with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Take the blue bottle with label using the right arm and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Lift up the medium bottle for beverages using the right arm, then shake.", + "Lift the blue bottle and shake it gently.", + "Shake the the bottle for liquids properly after lifting.", + "Shake the cylindrical bottle after grabbing it.", + "Grab the handheld bottle and give it a shake.", + "Grab the bottle with blue cap and shake it steadily.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the medium bottle for beverages with the right arm and give it a shake.", + "Pick the blue bottle with label, shake it with the right arm.", + "Pick up the bottle with blue cap and shake it.", + "Use the right arm to grab the medium-sized bottle and shake properly.", + "Shake the bottle with blue cap after holding it firmly.", + "Grip the blue bottle using the right arm and shake.", + "Hold the blue bottle and shake it properly.", + "Grab and shake the bottle for liquids using the right arm." + ], + "unseen": [ + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode48.json b/shake_bottle/arx-x5_clean_50/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..62e94e51c4518e250c16f88da2864d9010c7e3ec --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium black bottle with printed label and move it to shake.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Grip the bottle with blue and yellow print using the left arm and shake.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Grab the plastic bottle with colorful label with the left arm and shake.", + "Use the left arm to grab the black bottle and shake it.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Use the left arm to hold the drink bottle with rounded yellow lid and shake it.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "With the left arm, pick the black cylindrical bottle with ridges and shake properly.", + "Shake the medium black bottle with printed label thoroughly after grabbing it.", + "Shake the bottle with blue and yellow print after lifting it.", + "Hold and shake the the drink bottle with rounded yellow lid carefully.", + "Pick the beverage bottle with black body up with the left arm and shake.", + "Pick up the black bottle and shake it well.", + "Using the left arm, shake the drink bottle with rounded yellow lid and then place it back.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Pick up the drink bottle with rounded yellow lid and shake it.", + "Hold the medium bottle with yellow cap, shake it briefly.", + "Grab the bottle with blue and yellow print and give it a shake.", + "Pick the black plastic bottle with Pepsi logo, shake it with the left arm.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Shake the black cylindrical bottle with ridges after holding it firmly.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Use the left arm to pick and shake the smooth black bottle with ridges.", + "Use the left arm to grab the plastic bottle with colorful label and shake properly.", + "Lift up the smooth black bottle with ridges using the left arm, then shake.", + "Utilize the left arm to hold the beverage bottle with black body and shake it.", + "Grab the black plastic bottle with Pepsi logo carefully and shake.", + "Grasp the black bottle with the left arm and shake it.", + "Hold the black cylindrical bottle with ridges with the left arm and shake lightly.", + "Pick the beverage bottle with black body up using the left arm and shake it.", + "Grab the beverage bottle with black body firmly, shake it, and put it down.", + "Grab the plastic bottle with colorful label using the left arm, then shake.", + "Grab the medium bottle with yellow cap and shake it steadily.", + "Take the beverage bottle with black body using the left arm and give it a shake.", + "Lift the drink bottle with rounded yellow lid with the left arm and shake.", + "Hold the yellow capped drink bottle and shake it properly.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Catch the yellow-capped cylindrical bottle and shake it instantly.", + "Shake the the beverage bottle with black body properly after lifting.", + "Lift the smooth black bottle with ridges and shake it thoroughly.", + "Shake the yellow capped drink bottle using the left arm after grabbing.", + "Lift the yellow-capped cylindrical bottle with the left arm and shake it.", + "Secure the plastic bottle with colorful label and perform a shake.", + "Lift the black cylindrical bottle with ridges with the left arm and give it a shake.", + "Hold the bottle with blue and yellow print steady, then shake it.", + "Grab and shake the yellow capped drink bottle using the left arm.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Grab the black plastic bottle with Pepsi logo and move it to shake.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Grip the plastic bottle with colorful label using the left arm and shake.", + "Lift the medium black bottle with printed label and shake it gently.", + "Grab the medium black bottle with printed label with the left arm and shake.", + "Use the left arm to grab the smooth black bottle with ridges and shake it.", + "Secure the bottle with blue and yellow print, shake it, and place it down.", + "Use the left arm to hold the drink bottle with rounded yellow lid and shake it.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "With the left arm, pick the yellow capped drink bottle and shake properly.", + "Shake the medium bottle with yellow cap thoroughly after grabbing it.", + "Shake the yellow capped drink bottle after lifting it.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Pick the medium black bottle with printed label up with the left arm and shake.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Using the left arm, shake the black plastic bottle with Pepsi logo and then place it back.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Pick up the smooth black bottle with ridges and shake it.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Grab the yellow capped drink bottle and give it a shake.", + "Pick the black plastic bottle with Pepsi logo, shake it with the left arm.", + "Pick the yellow capped drink bottle and perform shaking motion.", + "Shake the black bottle firmly after grabbing.", + "Shake the bottle with blue and yellow print after holding it firmly.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Use the left arm to pick and shake the black plastic bottle with Pepsi logo.", + "Use the left arm to grab the medium bottle with yellow cap and shake properly.", + "Lift up the medium bottle with yellow cap using the left arm, then shake.", + "Utilize the left arm to hold the black bottle and shake it.", + "Grab the smooth black bottle with ridges carefully and shake.", + "Grasp the plastic bottle with colorful label with the left arm and shake it.", + "Hold the yellow capped drink bottle with the left arm and shake lightly.", + "Pick the smooth black bottle with ridges up using the left arm and shake it.", + "Grab the yellow capped drink bottle firmly, shake it, and put it down.", + "Grab the medium black bottle with printed label using the left arm, then shake.", + "Grab the black bottle and shake it steadily.", + "Take the medium black bottle with printed label using the left arm and give it a shake.", + "Lift the black cylindrical bottle with ridges with the left arm and shake.", + "Hold the bottle with blue and yellow print and shake it properly.", + "Shake the medium black bottle with printed label after grabbing it.", + "Catch the beverage bottle with black body and shake it instantly.", + "Shake the the yellow-capped cylindrical bottle properly after lifting.", + "Lift the black plastic bottle with Pepsi logo and shake it thoroughly.", + "Shake the yellow capped drink bottle using the left arm after grabbing.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake it.", + "Secure the medium black bottle with printed label and perform a shake.", + "Lift the bottle with blue and yellow print with the left arm and give it a shake.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Grab and shake the black cylindrical bottle with ridges using the left arm.", + "Shake the black plastic bottle with Pepsi logo after grabbing it." + ], + "unseen": [ + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the bottle with ridges near base after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode49.json b/shake_bottle/arx-x5_clean_50/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..d40826f3e85c3ece0c465e62e4f1ba02b513d4ba --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth brown bottle after grabbing it.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Hold the plastic bottle for liquids with the right arm and shake lightly.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Lift the medium plastic bottle with the right arm and give it a shake.", + "Hold the smooth brown bottle and shake it properly.", + "Grab and shake the rounded bottle with printed details using the right arm.", + "Use the right arm to hold the medium bottle with smooth texture and shake it.", + "Lift the bottle with dark brown color with the right arm and shake.", + "Catch the medium plastic bottle and shake it instantly.", + "Use the right arm to grab the medium plastic bottle and shake it.", + "Grab the plastic bottle with printed label using the right arm, then shake.", + "Pick up the bottle with dark brown color and shake it.", + "Take the medium plastic bottle using the right arm and give it a shake.", + "Lift the bottle with brown body and white top with the right arm and shake it.", + "Shake the bottle with brown body and white top after grabbing it.", + "Shake the medium bottle with smooth texture after holding it firmly.", + "Use the right arm to pick and shake the handheld brown bottle with white lid.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Pick up the medium plastic bottle and shake it well.", + "Pick the white-capped brown cylindrical bottle, shake it with the right arm.", + "Shake the bottle with brown body and white top after lifting it.", + "Hold the handheld brown bottle with white lid, shake it briefly.", + "Shake the plastic bottle with printed label using the right arm after grabbing.", + "Secure the white-capped brown cylindrical bottle and perform a shake.", + "Grab the plastic bottle with printed label with the right arm and shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Use the right arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Utilize the right arm to hold the bottle with brown body and white top and shake it.", + "Grab the bottle with brown body and white top and give it a shake.", + "Pick the plastic bottle with printed label up with the right arm and shake.", + "Grip the plastic bottle for liquids using the right arm and shake.", + "Shake the smooth brown bottle after grabbing it.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Grasp the bottle with brown body and white top with the right arm and shake it.", + "With the right arm, pick the handheld brown bottle with white lid and shake properly.", + "Grab the medium plastic bottle carefully and shake.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Using the right arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Pick the medium plastic bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Shake the the bottle with dark brown color properly after lifting.", + "Lift the plastic bottle for liquids and shake it gently.", + "Lift up the white-capped brown cylindrical bottle using the right arm, then shake.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Grab the handheld brown bottle with white lid and move it to shake.", + "Hold the smooth brown bottle with the right arm and shake lightly.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Lift the plastic bottle with printed label with the right arm and give it a shake.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Grab and shake the bottle with brown body and white top using the right arm.", + "Use the right arm to hold the bottle with dark brown color and shake it.", + "Lift the medium bottle with smooth texture with the right arm and shake.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Use the right arm to grab the bottle with dark brown color and shake it.", + "Grab the cylindrical bottle with narrow neck using the right arm, then shake.", + "Pick up the medium plastic bottle and shake it.", + "Take the cylindrical bottle with narrow neck using the right arm and give it a shake.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake it.", + "Shake the plastic bottle with printed label after grabbing it.", + "Shake the plastic bottle with printed label after holding it firmly.", + "Use the right arm to pick and shake the plastic bottle with printed label.", + "Hold the smooth brown bottle steady, then shake it.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Pick the medium bottle with smooth texture, shake it with the right arm.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Shake the handheld brown bottle with white lid using the right arm after grabbing.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Grab the bottle with brown body and white top with the right arm and shake.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Utilize the right arm to hold the rounded bottle with printed details and shake it.", + "Grab the smooth brown bottle and give it a shake.", + "Pick the bottle with brown body and white top up with the right arm and shake.", + "Grip the handheld brown bottle with white lid using the right arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Lift the bottle with white cap and shake it thoroughly.", + "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.", + "With the right arm, pick the bottle with brown body and white top and shake properly.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Secure the bottle with brown body and white top, shake it, and place it down.", + "Using the right arm, shake the medium plastic bottle and then place it back.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Pick the rounded bottle with printed details up using the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle for liquids.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Shake the the bottle with brown body and white top properly after lifting.", + "Lift the rounded bottle with printed details and shake it gently.", + "Lift up the handheld brown bottle with white lid using the right arm, then shake.", + "Use the right arm to lift and shake the smooth brown bottle." + ], + "unseen": [ + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode5.json b/shake_bottle/arx-x5_clean_50/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7081492862c04df2c312b4daecc844b276194b --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the narrow-necked bottle and shake it well.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Secure the long thin bottle and perform a shake.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Shake the hand-sized soda bottle after lifting it.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Grab the plastic drink bottle and shake it steadily.", + "Grab the red-capped bottle and move it to shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the medium dark brown bottle after holding it firmly.", + "Shake the long thin bottle using the right arm after grabbing.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Hold the red-capped bottle and shake it properly.", + "Grab the Coca-Cola bottle carefully and shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Lift the medium dark brown bottle and shake it gently.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Take the long thin bottle using the right arm and give it a shake.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Use the right arm to pick and shake the long thin bottle.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Pick up the narrow-necked bottle and shake it well.", + "Hold and shake the the narrow-necked bottle carefully.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Secure the red-capped bottle and perform a shake.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the red-capped bottle after grabbing it.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Shake the Coca-Cola bottle after lifting it.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Grab the plastic drink bottle and give it a shake.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Shake the plastic drink bottle after holding it firmly.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Hold the red-capped bottle and shake it properly.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick up the dark drink bottle with logo and shake it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Use the right arm to lift and shake the long thin bottle.", + "Grab and shake the smooth bottle with red lid using the right arm.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Shake the red-capped bottle firmly after grabbing.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Lift the bottle with white neck and red top and shake it gently.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Secure the long thin bottle, shake it, and place it down.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Lift the plastic drink bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Hold the plastic drink bottle, shake it briefly." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode6.json b/shake_bottle/arx-x5_clean_50/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..1f20ac17d99f3a266e77049954549fa17a4af82f --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle and perform shaking motion.", + "Grab the bottle with green label and shake it steadily.", + "Grasp the yellow plastic bottle with white top with the right arm and shake it.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Pick the yellow container with rounded edges, shake it with the right arm.", + "Use the right arm to grab the smooth bottle with rounded edges and shake it.", + "Shake the medium rectangular yellow bottle using the right arm after grabbing.", + "Secure the yellow bottle and perform a shake.", + "Shake the yellow container with rounded edges after grabbing it.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake.", + "Grab the bottle with green and white labels and move it to shake.", + "Catch the plastic bottle and shake it instantly.", + "Secure the yellow bottle, shake it, and place it down.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Use the right arm to hold the yellow plastic bottle with white top and shake it.", + "Grab the bottle with a smooth plastic body using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Shake the bottle with white cap after grabbing it.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Using the right arm, shake the yellow bottle with a green design and then place it back.", + "Take the yellow container with rounded edges using the right arm and give it a shake.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Hold the smooth bottle with rounded edges and shake it properly.", + "Use the right arm to pick and shake the yellow container with rounded edges.", + "Grab the plastic bottle carefully and shake.", + "Hold the rectangular bottle with cylindrical neck, shake it briefly.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Pick up the medium rectangular yellow bottle and shake it well.", + "Shake the yellow bottle after grabbing it.", + "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Shake the smooth bottle with rounded edges firmly after grabbing.", + "Grip the bottle with green and white labels using the right arm and shake.", + "Grab the yellow plastic bottle with white top with the right arm and shake.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Pick the medium rectangular yellow bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.", + "Shake the plastic bottle after holding it firmly.", + "Grab the bottle with green label and give it a shake.", + "With the right arm, pick the yellow plastic bottle with white top and shake properly.", + "Grab and shake the bottle with white cap using the right arm.", + "Pick up the bottle with a smooth plastic body and shake it.", + "Use the right arm to grab the bottle with a smooth plastic body and shake properly.", + "Lift the bottle with green and white labels with the right arm and give it a shake.", + "Lift the bottle with green label with the right arm and shake it.", + "Pick the yellow bottle up with the right arm and shake.", + "Lift the bottle with white cap and shake it gently.", + "Pick the bottle with green and white labels and perform shaking motion.", + "Grab the bottle with a smooth plastic body and shake it steadily.", + "Grasp the yellow bottle with a green design with the right arm and shake it.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Pick the bottle with white cap, shake it with the right arm.", + "Use the right arm to grab the bottle with green label and shake it.", + "Shake the yellow plastic bottle with white top using the right arm after grabbing.", + "Secure the yellow container with rounded edges and perform a shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Lift the yellow plastic bottle with white top with the right arm and shake.", + "Grab the yellow bottle and move it to shake.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Secure the smooth bottle with rounded edges, shake it, and place it down.", + "Hold and shake the the yellow bottle carefully.", + "Lift the bottle with green label and shake it thoroughly.", + "Use the right arm to hold the yellow container with rounded edges and shake it.", + "Grab the yellow plastic bottle with white top using the right arm, then shake.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Using the right arm, shake the yellow container with rounded edges and then place it back.", + "Take the plastic bottle using the right arm and give it a shake.", + "Hold the bottle with white cap with the right arm and shake lightly.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Use the right arm to pick and shake the medium rectangular yellow bottle.", + "Grab the plastic bottle carefully and shake.", + "Hold the rectangular bottle with cylindrical neck, shake it briefly.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Pick up the yellow bottle with a green design and shake it well.", + "Shake the bottle with green label after grabbing it.", + "Lift up the bottle with green label using the right arm, then shake.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the bottle with green label and shake it.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Grip the rectangular bottle with cylindrical neck using the right arm and shake.", + "Grab the yellow plastic bottle with white top with the right arm and shake.", + "Shake the yellow container with rounded edges after lifting it.", + "Pick the medium rectangular yellow bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Shake the bottle with white cap after holding it firmly.", + "Grab the smooth bottle with rounded edges and give it a shake.", + "With the right arm, pick the bottle with green and white labels and shake properly.", + "Grab and shake the smooth bottle with rounded edges using the right arm.", + "Pick up the yellow container with rounded edges and shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Lift the yellow container with rounded edges with the right arm and give it a shake.", + "Lift the medium rectangular yellow bottle with the right arm and shake it.", + "Pick the yellow plastic bottle with white top up with the right arm and shake.", + "Lift the rectangular bottle with cylindrical neck and shake it gently." + ], + "unseen": [ + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode7.json b/shake_bottle/arx-x5_clean_50/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..ef1ad786236475db9109821946b27435e6c02a48 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the red-capped bottle and shake it properly.", + "Hold the plastic drink bottle steady, then shake it.", + "Secure the dark drink bottle with logo and perform a shake.", + "Pick up the long thin bottle and shake it.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the medium dark brown bottle after grabbing it.", + "Hold and shake the the long thin bottle carefully.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Shake the the brown bottle with red label properly after lifting.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Grab the red-capped bottle and move it to shake.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Grip the plastic drink bottle using the left arm and shake.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Pick the long thin bottle up with the left arm and shake.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Catch the long thin bottle and shake it instantly.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Pick the long thin bottle and perform shaking motion.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Pick the red-capped bottle, shake it with the left arm.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Shake the smooth bottle with red lid after lifting it.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grab the red-capped bottle with the left arm and shake.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Hold the Coca-Cola bottle with the left arm and shake lightly.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Lift the long thin bottle and shake it gently.", + "Shake the medium dark brown bottle after holding it firmly.", + "Lift the long thin bottle and shake it thoroughly.", + "Hold the plastic drink bottle and shake it properly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Secure the medium dark brown bottle and perform a shake.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Grab the plastic drink bottle and move it to shake.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Grip the brown bottle with red label using the left arm and shake.", + "Pick up the red-capped bottle and shake it well.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift the long thin bottle with the left arm and shake.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the brown bottle with red label and give it a shake.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Shake the narrow-necked bottle after lifting it.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Grab the red-capped bottle with the left arm and shake.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Shake the red-capped bottle after grabbing it.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the narrow-necked bottle after holding it firmly.", + "Lift the dark drink bottle with logo and shake it thoroughly." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode8.json b/shake_bottle/arx-x5_clean_50/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..2088f109de8a3bf97a6f06105d4b764a783f85d7 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the bottle with tapered cylindrical shape carefully.", + "Use the left arm to grab the brown bottle with white printed label and shake properly.", + "Pick the brown bottle with green screw-on cap and perform shaking motion.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Using the left arm, shake the brown bottle and then place it back.", + "Shake the the brown bottle with white printed label properly after lifting.", + "Hold the green-capped bottle, shake it briefly.", + "Use the left arm to hold the brown bottle with white printed label and shake it.", + "Use the left arm to lift and shake the hand-sized bottle with grooves.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Lift the plastic bottle with ribbed pattern with the left arm and shake it.", + "Hold the brown bottle and shake it properly.", + "Shake the small brown plastic bottle after holding it firmly.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Lift up the bottle with tapered cylindrical shape using the left arm, then shake.", + "Pick up the small brown plastic bottle and shake it.", + "Use the left arm to pick and shake the plastic bottle with ribbed pattern.", + "Take the green-capped bottle using the left arm and give it a shake.", + "Grab the green-capped bottle using the left arm, then shake.", + "Pick up the bottle with green cap and shake it well.", + "Secure the cylindrical bottle with white label, shake it, and place it down.", + "Utilize the left arm to hold the brown bottle with white printed label and shake it.", + "Grab the bottle with tapered cylindrical shape and shake it steadily.", + "Shake the smooth plastic bottle for beverages firmly after grabbing.", + "With the left arm, pick the brown bottle with green screw-on cap and shake properly.", + "Shake the small drink bottle with logo after grabbing it.", + "Lift the small brown plastic bottle with the left arm and give it a shake.", + "Lift the hand-sized bottle with grooves and shake it thoroughly.", + "Secure the brown bottle with white printed label and perform a shake.", + "Grab the brown bottle with white printed label with the left arm and shake.", + "Pick the cylindrical bottle with white label up with the left arm and shake.", + "Grab the brown bottle firmly, shake it, and put it down.", + "Pick the smooth plastic bottle for beverages, shake it with the left arm.", + "Grab the hand-sized bottle with grooves and move it to shake.", + "Lift the plastic bottle with ribbed pattern with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab and shake the small drink bottle with logo using the left arm.", + "Lift the plastic bottle with ribbed pattern and shake it gently.", + "Shake the brown bottle using the left arm after grabbing.", + "Shake the bottle with tapered cylindrical shape after lifting it.", + "Use the left arm to grab the brown bottle and shake it.", + "Grasp the brown bottle with the left arm and shake it.", + "Use the left arm to lift and shake the hand-sized bottle with grooves.", + "Pick the brown bottle with white printed label up using the left arm and shake it.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Hold the small brown plastic bottle with the left arm and shake lightly.", + "Grip the smooth plastic bottle for beverages using the left arm and shake.", + "Hold the small drink bottle with logo steady, then shake it.", + "Hold and shake the the bottle with green cap carefully.", + "Use the left arm to grab the cylindrical bottle with white label and shake properly.", + "Pick the bottle with tapered cylindrical shape and perform shaking motion.", + "Grab the brown bottle with green screw-on cap carefully and shake.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Using the left arm, shake the hand-sized bottle with grooves and then place it back.", + "Shake the the hand-sized bottle with grooves properly after lifting.", + "Hold the green-capped bottle, shake it briefly.", + "Use the left arm to hold the cylindrical bottle with white label and shake it.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Lift the green-capped bottle with the left arm and shake it.", + "Hold the small drink bottle with logo and shake it properly.", + "Shake the bottle with tapered cylindrical shape after holding it firmly.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Lift up the bottle with green cap using the left arm, then shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick and shake the small brown plastic bottle.", + "Take the small brown plastic bottle using the left arm and give it a shake.", + "Grab the brown bottle with white printed label using the left arm, then shake.", + "Pick up the small brown plastic bottle and shake it well.", + "Secure the smooth plastic bottle for beverages, shake it, and place it down.", + "Utilize the left arm to hold the bottle with tapered cylindrical shape and shake it.", + "Grab the brown bottle with white printed label and shake it steadily.", + "Shake the bottle with green cap firmly after grabbing.", + "With the left arm, pick the brown bottle with white printed label and shake properly.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Lift the plastic bottle with ribbed pattern with the left arm and give it a shake.", + "Lift the smooth plastic bottle for beverages and shake it thoroughly.", + "Secure the small brown plastic bottle and perform a shake.", + "Grab the smooth plastic bottle for beverages with the left arm and shake.", + "Pick the hand-sized bottle with grooves up with the left arm and shake.", + "Grab the small brown plastic bottle firmly, shake it, and put it down.", + "Pick the brown bottle with green screw-on cap, shake it with the left arm.", + "Grab the brown bottle with green screw-on cap and move it to shake.", + "Lift the bottle with tapered cylindrical shape with the left arm and shake.", + "Grab the brown bottle with green screw-on cap and give it a shake.", + "Grab and shake the smooth plastic bottle for beverages using the left arm.", + "Lift the brown bottle and shake it gently.", + "Shake the brown bottle using the left arm after grabbing.", + "Shake the small drink bottle with logo after lifting it.", + "Use the left arm to grab the brown bottle with white printed label and shake it.", + "Grasp the hand-sized bottle with grooves with the left arm and shake it.", + "Use the left arm to lift and shake the small drink bottle with logo.", + "Pick the smooth plastic bottle for beverages up using the left arm and shake it.", + "Shake the bottle with tapered cylindrical shape thoroughly after grabbing it.", + "Hold the brown bottle with white printed label with the left arm and shake lightly.", + "Grip the bottle with green cap using the left arm and shake.", + "Hold the bottle with green cap steady, then shake it." + ], + "unseen": [ + "Use the left arm to pick the plastic Starbucks bottle.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/instructions/episode9.json b/shake_bottle/arx-x5_clean_50/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..d70eda67a6ca499f2d238369658b3378cba53baf --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the medium bottle with orange lid, shake it, and place it down.", + "Pick the orange bottle up with the left arm and shake.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Shake the the bottle with orange cap properly after lifting.", + "Shake the bottle with orange cap after lifting it.", + "Pick the medium bottle with orange lid, shake it with the left arm.", + "Pick the cylindrical orange and white bottle up using the left arm and shake it.", + "With the left arm, pick the orange and white bottle with cap and shake properly.", + "Take the orange bottle using the left arm and give it a shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Grip the white and orange plastic bottle using the left arm and shake.", + "Pick the orange bottle and perform shaking motion.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Grab the orange and white bottle with cap carefully and shake.", + "Grab the medium bottle with orange lid and give it a shake.", + "Shake the yellow label bottle firmly after grabbing.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Shake the orange and white bottle with cap using the left arm after grabbing.", + "Shake the white and orange plastic bottle after grabbing it.", + "Lift the cylindrical orange and white bottle with the left arm and shake.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Hold and shake the the bottle with orange cap carefully.", + "Using the left arm, shake the orange and white bottle with cap and then place it back.", + "Lift the bottle with ribbed orange bottom and shake it thoroughly.", + "Use the left arm to grab the orange and white bottle with cap and shake it.", + "Lift the yellow label bottle and shake it gently.", + "Use the left arm to grab the drinking bottle with yellow label and shake properly.", + "Use the left arm to hold the medium bottle with orange lid and shake it.", + "Shake the white and orange plastic bottle after grabbing it.", + "Grab the cylindrical orange and white bottle using the left arm, then shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Hold the orange bottle and shake it properly.", + "Grab and shake the bottle with ribbed orange bottom using the left arm.", + "Lift the medium orange bottle with the left arm and shake it.", + "Grab the cylindrical orange and white bottle and shake it steadily.", + "Utilize the left arm to hold the white and orange plastic bottle and shake it.", + "Use the left arm to lift and shake the medium orange bottle.", + "Catch the orange and white bottle with cap and shake it instantly.", + "Hold the bottle with ribbed orange bottom with the left arm and shake lightly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Secure the medium orange bottle and perform a shake.", + "Lift the cylindrical orange and white bottle with the left arm and give it a shake.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Pick up the bottle with ribbed orange bottom and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the orange and white bottle with cap and shake it well.", + "Use the left arm to pick and shake the drinking bottle with yellow label.", + "Grab the white and orange plastic bottle with the left arm and shake.", + "Shake the bottle with orange cap after grabbing it.", + "Secure the white and orange plastic bottle, shake it, and place it down.", + "Pick the bottle with orange cap up with the left arm and shake.", + "Hold the orange and white bottle with cap steady, then shake it.", + "Shake the the white and orange plastic bottle properly after lifting.", + "Shake the bottle with ribbed orange bottom after lifting it.", + "Pick the medium bottle with orange lid, shake it with the left arm.", + "Pick the orange bottle up using the left arm and shake it.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Take the medium orange bottle using the left arm and give it a shake.", + "Grab the bottle with orange cap and move it to shake.", + "Grab the white and orange plastic bottle firmly, shake it, and put it down.", + "Grip the medium bottle with orange lid using the left arm and shake.", + "Pick the drinking bottle with yellow label and perform shaking motion.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the bottle with orange cap carefully and shake.", + "Grab the bottle with ribbed orange bottom and give it a shake.", + "Shake the bottle with ribbed orange bottom firmly after grabbing.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Shake the yellow label bottle after grabbing it.", + "Lift the orange bottle with the left arm and shake.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Lift the white and orange plastic bottle and shake it thoroughly.", + "Use the left arm to grab the white and orange plastic bottle and shake it.", + "Lift the yellow label bottle and shake it gently.", + "Use the left arm to grab the orange and white bottle with cap and shake properly.", + "Use the left arm to hold the plastic bottle and shake it.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Grab the orange and white bottle with cap using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Hold the orange and white bottle with cap and shake it properly.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Lift the white and orange plastic bottle with the left arm and shake it.", + "Grab the white and orange plastic bottle and shake it steadily.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Catch the plastic bottle and shake it instantly.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.", + "Grasp the bottle with orange cap with the left arm and shake it.", + "Pick up the drinking bottle with yellow label and shake it.", + "Hold the smooth plastic bottle, shake it briefly.", + "Pick up the smooth plastic bottle and shake it well.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Grab the medium bottle with orange lid with the left arm and shake.", + "Shake the bottle with orange cap after grabbing it." + ], + "unseen": [ + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved body.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved body.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved body.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved body.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to pick the curvy orange bottle with white section." + ] +} \ No newline at end of file diff --git a/shake_bottle/arx-x5_clean_50/scene_info.json b/shake_bottle/arx-x5_clean_50/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/shake_bottle/arx-x5_clean_50/seed.txt b/shake_bottle/arx-x5_clean_50/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..277403cdc8c603bb0212dc1b6a6386e402fff6a5 --- /dev/null +++ b/shake_bottle/arx-x5_clean_50/seed.txt @@ -0,0 +1 @@ +5 6 7 8 9 12 14 15 16 18 19 20 21 22 23 24 25 26 27 30 31 32 33 34 36 37 38 40 42 44 45 46 47 48 49 51 52 53 54 56 57 59 60 61 64 66 67 68 69 70 \ No newline at end of file diff --git a/shake_bottle/arx-x5_randomized_500/scene_info.json b/shake_bottle/arx-x5_randomized_500/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/shake_bottle/arx-x5_randomized_500/seed.txt b/shake_bottle/arx-x5_randomized_500/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..9ab271cd7ee6e604abd39da0fdd1aa9cc43be2ef --- /dev/null +++ b/shake_bottle/arx-x5_randomized_500/seed.txt @@ -0,0 +1 @@ +0 1 2 3 4 6 7 8 10 13 14 16 17 20 21 22 23 25 27 28 29 30 31 32 35 37 38 39 40 41 42 43 45 46 47 49 53 55 57 59 60 61 63 64 66 67 69 70 72 75 76 79 82 86 89 90 91 92 94 95 97 99 101 103 104 105 106 108 109 111 112 116 118 120 121 126 128 133 134 135 136 138 140 143 144 146 147 148 150 151 152 153 154 155 156 157 158 159 163 164 165 166 167 168 171 173 175 176 178 179 180 181 187 190 191 194 195 196 200 202 204 205 207 214 215 218 223 224 226 227 228 229 230 236 237 238 239 241 242 243 244 246 247 248 249 250 256 258 259 261 262 263 267 270 271 272 273 274 278 280 281 285 286 288 289 290 291 292 293 294 296 297 298 299 302 303 304 305 308 310 311 312 313 314 315 316 317 318 320 321 322 323 325 327 332 333 335 338 340 341 344 345 346 347 350 351 354 355 357 359 361 362 363 364 365 368 373 375 378 379 383 386 389 391 393 394 395 396 399 400 401 402 405 408 409 411 415 416 417 420 421 422 425 426 427 428 429 430 432 433 434 435 438 440 441 443 444 445 446 447 448 449 450 453 454 456 457 461 462 463 464 465 467 468 469 470 471 472 474 476 477 478 480 481 482 483 484 485 486 487 489 490 491 493 494 495 498 501 503 505 506 507 508 510 511 513 516 517 520 521 522 523 524 528 529 530 533 535 536 538 541 542 545 546 548 549 552 554 555 557 558 560 561 562 563 564 565 568 571 572 574 576 578 580 581 586 587 588 589 591 592 593 595 596 597 598 599 601 603 605 607 609 614 616 619 620 621 622 624 626 627 630 632 634 635 638 640 641 642 643 644 648 649 650 651 653 654 656 657 658 659 661 662 663 666 667 668 669 670 671 674 675 676 677 681 685 686 688 689 690 691 693 695 697 698 699 700 701 702 703 704 710 711 712 713 715 717 719 720 722 724 728 729 732 734 736 737 738 739 741 743 744 747 748 750 753 754 755 760 761 762 763 764 765 766 768 769 770 771 772 776 777 778 779 780 784 785 786 788 790 792 793 794 795 799 800 803 804 806 807 809 810 811 812 813 815 816 818 819 820 822 823 827 828 832 834 835 837 838 839 \ No newline at end of file diff --git a/shake_bottle/franka_clean_50/scene_info.json b/shake_bottle/franka_clean_50/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/shake_bottle/franka_clean_50/seed.txt b/shake_bottle/franka_clean_50/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..bf27f53f3c2b62ba4a289f9e8ea921995b720d6b --- /dev/null +++ b/shake_bottle/franka_clean_50/seed.txt @@ -0,0 +1 @@ +5 8 12 15 16 18 21 22 23 25 26 27 30 31 32 33 36 37 42 45 52 53 54 57 59 61 67 68 69 70 71 77 82 83 84 86 88 91 94 95 97 99 100 103 106 112 113 115 117 131 \ No newline at end of file diff --git a/shake_bottle/franka_randomized_500/scene_info.json b/shake_bottle/franka_randomized_500/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/shake_bottle/franka_randomized_500/seed.txt b/shake_bottle/franka_randomized_500/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..9296a238b370861c3f421750bc4b8973b12b77cf --- /dev/null +++ b/shake_bottle/franka_randomized_500/seed.txt @@ -0,0 +1 @@ +1 4 8 13 16 20 21 22 23 25 27 30 31 35 37 40 41 43 45 47 49 53 55 60 61 64 66 67 73 78 79 86 89 90 91 92 95 97 99 105 108 112 120 133 134 136 138 140 148 151 152 155 156 157 158 159 160 163 164 167 171 173 176 178 179 181 190 194 195 196 202 204 207 214 215 218 219 223 225 227 228 229 236 237 239 243 244 247 248 250 258 259 267 270 272 274 280 286 289 290 294 296 297 299 303 305 310 311 312 315 316 317 318 320 321 322 323 332 333 338 344 346 354 355 357 359 362 363 365 373 376 378 383 389 391 393 394 395 396 399 400 402 405 408 409 415 417 420 421 425 428 429 432 433 434 435 441 443 444 446 448 449 450 453 454 461 462 463 464 465 469 470 471 472 474 477 480 484 485 487 489 490 493 495 498 503 505 506 508 511 521 524 528 529 530 535 538 542 546 549 550 552 557 560 571 574 576 578 586 595 596 599 605 609 614 616 619 621 624 625 627 630 632 634 635 638 640 641 643 649 651 653 656 661 662 663 668 669 675 676 681 685 686 689 690 691 693 695 697 698 699 700 701 712 717 718 719 720 722 728 732 734 736 739 748 753 755 760 761 763 764 766 769 770 775 779 780 785 788 790 792 794 800 803 804 806 809 814 816 820 828 835 840 842 844 849 855 856 857 858 863 871 872 874 875 877 878 882 883 885 889 892 893 895 899 906 907 912 917 922 925 929 935 937 938 942 943 945 949 952 953 960 962 969 971 972 973 974 975 977 978 981 983 986 991 992 999 1000 1003 1005 1006 1009 1014 1015 1017 1019 1020 1023 1030 1036 1037 1039 1041 1042 1045 1046 1052 1054 1055 1060 1061 1064 1067 1072 1076 1077 1082 1083 1089 1098 1099 1102 1107 1109 1110 1112 1117 1118 1120 1124 1127 1130 1140 1141 1142 1143 1147 1151 1152 1154 1162 1166 1168 1171 1173 1175 1183 1184 1185 1186 1188 1191 1192 1195 1196 1199 1200 1202 1203 1205 1211 1213 1216 1217 1222 1223 1225 1226 1227 1232 1236 1237 1241 1242 1245 1246 1247 1251 1252 1253 1265 1266 1269 1271 1273 1274 1276 1280 1281 1283 1287 1290 1291 1295 1301 1302 1305 1307 1309 1310 1311 1313 1315 1318 1319 1321 1322 1323 1326 1329 1330 1332 1334 1340 1341 1346 1347 1350 1351 1354 1357 1359 1362 1364 1365 1377 1378 1380 1385 1387 1393 1394 1403 1406 1409 1410 1411 1414 1418 1420 \ No newline at end of file diff --git a/shake_bottle/piper_clean_50/scene_info.json b/shake_bottle/piper_clean_50/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/shake_bottle/piper_clean_50/seed.txt b/shake_bottle/piper_clean_50/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..1263897fda2f1cdcc1c1d412cce685d1be447d78 --- /dev/null +++ b/shake_bottle/piper_clean_50/seed.txt @@ -0,0 +1 @@ +5 6 7 8 9 12 14 15 16 18 19 20 21 22 23 24 25 26 27 30 31 32 33 34 36 38 40 42 44 45 46 47 48 49 50 51 52 53 54 56 57 59 60 61 64 66 67 68 69 70 \ No newline at end of file diff --git a/shake_bottle/piper_randomized_500/scene_info.json b/shake_bottle/piper_randomized_500/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/shake_bottle/piper_randomized_500/seed.txt b/shake_bottle/piper_randomized_500/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..56c4acd526ec5a5de2ed962b7332e16eade74507 --- /dev/null +++ b/shake_bottle/piper_randomized_500/seed.txt @@ -0,0 +1 @@ +0 1 2 3 4 6 7 8 10 13 14 16 17 20 21 22 23 25 27 28 29 30 31 32 35 37 38 39 40 41 42 43 45 46 47 49 53 55 57 59 60 61 63 64 66 67 69 70 72 75 76 79 82 86 89 90 91 92 94 95 97 99 101 103 104 105 106 108 109 111 112 116 118 120 121 126 128 133 134 135 136 138 140 143 144 146 147 148 150 151 152 153 154 155 156 157 158 159 163 164 165 166 167 168 171 173 175 176 178 179 180 181 187 190 191 194 195 196 200 202 204 205 207 214 215 218 219 223 224 226 227 228 229 230 236 237 238 239 241 242 243 244 246 247 248 249 250 256 258 259 262 263 264 267 270 271 272 273 274 278 280 281 285 286 288 289 290 291 292 293 294 296 297 298 299 302 303 304 305 308 310 311 312 313 314 315 316 317 318 320 321 322 323 325 327 332 333 335 340 341 344 345 346 347 350 351 354 355 357 359 361 362 363 364 365 368 373 375 376 378 379 383 386 389 391 393 394 395 396 399 400 401 402 405 408 409 411 415 416 417 420 421 422 425 426 427 428 429 430 432 433 434 435 438 440 441 444 445 446 447 448 449 450 453 454 456 457 461 462 463 464 465 467 468 469 471 472 474 476 477 478 480 481 482 483 484 485 486 487 489 490 491 493 494 495 498 501 503 505 506 507 508 510 511 513 516 517 520 521 522 523 524 527 528 529 530 533 535 536 538 541 542 545 548 549 552 554 555 557 558 560 561 562 563 564 565 568 571 572 574 575 576 578 580 581 586 587 588 589 591 592 593 595 596 597 598 599 601 603 605 607 609 614 616 619 620 621 622 624 625 626 627 630 632 634 635 638 640 641 642 643 644 648 649 650 651 653 654 656 658 659 661 662 663 666 667 668 669 670 671 674 675 676 677 681 685 686 688 689 690 691 693 695 697 698 699 700 701 702 703 704 710 711 712 713 715 717 718 719 720 721 722 724 728 729 732 734 736 737 738 739 741 743 744 747 748 750 753 754 755 760 761 763 764 765 766 768 769 770 771 772 776 777 778 779 780 784 785 786 788 790 792 793 794 795 799 800 802 803 804 806 807 809 810 811 812 813 814 815 816 818 819 820 822 823 827 828 832 834 835 \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode0.json b/shake_bottle/ur5_clean_50/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..6337d1b4556ad62c152d36b101ebe7b081c2ddb9 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the bottle with green label and shake it.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Shake the the bottle with green label properly after lifting.", + "Grip the bottle with green and white labels using the left arm and shake.", + "Use the left arm to hold the bottle with green and white labels and shake it.", + "Take the medium rectangular yellow bottle using the left arm and give it a shake.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Pick the smooth bottle with rounded edges up with the left arm and shake.", + "Pick the bottle with green label, shake it with the left arm.", + "Hold the rectangular bottle with cylindrical neck steady, then shake it.", + "Shake the bottle with white cap after grabbing it.", + "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Hold and shake the the bottle with green and white labels carefully.", + "Grab the yellow bottle and give it a shake.", + "Using the left arm, shake the smooth bottle with rounded edges and then place it back.", + "Shake the yellow bottle with a green design after grabbing it.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the yellow bottle with a green design using the left arm after grabbing.", + "Hold the yellow bottle and shake it properly.", + "Shake the plastic bottle after grabbing it.", + "Secure the smooth bottle with rounded edges, shake it, and place it down.", + "Grab the yellow bottle and shake it steadily.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Shake the rectangular bottle with cylindrical neck after lifting it.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Use the left arm to pick and shake the plastic bottle.", + "Pick up the rectangular bottle with cylindrical neck and shake it well.", + "Grab the yellow bottle with a green design carefully and shake.", + "Grab the yellow bottle using the left arm, then shake.", + "Use the left arm to grab the yellow bottle and shake it.", + "Lift the bottle with a smooth plastic body with the left arm and shake it.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grab the yellow bottle with a green design with the left arm and shake.", + "Use the left arm to grab the yellow container with rounded edges and shake properly.", + "Lift the bottle with green label with the left arm and shake.", + "Grab the bottle with white cap and move it to shake.", + "Secure the yellow bottle and perform a shake.", + "Lift the bottle with green and white labels and shake it gently.", + "Hold the yellow bottle with a green design with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with green label.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Use the left arm to lift and shake the bottle with green label.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Grip the yellow container with rounded edges using the left arm and shake.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Take the bottle with a smooth plastic body using the left arm and give it a shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the bottle with green label, shake it briefly.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Pick the medium rectangular yellow bottle, shake it with the left arm.", + "Hold the bottle with green label steady, then shake it.", + "Shake the bottle with white cap after grabbing it.", + "Grasp the smooth bottle with rounded edges with the left arm and shake it.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Grab the yellow container with rounded edges and give it a shake.", + "Using the left arm, shake the medium rectangular yellow bottle and then place it back.", + "Shake the bottle with white cap after grabbing it.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Pick up the plastic bottle and shake it.", + "Shake the yellow bottle using the left arm after grabbing.", + "Hold the bottle with green and white labels and shake it properly.", + "Shake the bottle with green label after grabbing it.", + "Secure the yellow bottle with a green design, shake it, and place it down.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the bottle with white cap after lifting it.", + "Grab and shake the bottle with a smooth plastic body using the left arm.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Catch the plastic bottle and shake it instantly.", + "Shake the rectangular bottle with cylindrical neck after holding it firmly.", + "Use the left arm to pick and shake the rectangular bottle with cylindrical neck.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Grab the plastic bottle carefully and shake.", + "Grab the rectangular bottle with cylindrical neck using the left arm, then shake.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Lift the yellow container with rounded edges with the left arm and give it a shake.", + "Grab the plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Lift the yellow plastic bottle with white top with the left arm and shake.", + "Grab the bottle with green and white labels and move it to shake.", + "Secure the bottle with a smooth plastic body and perform a shake.", + "Lift the bottle with green label and shake it gently.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the yellow bottle with a green design." + ], + "unseen": [ + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode1.json b/shake_bottle/ur5_clean_50/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..45fd880e6221e07d5843d0401351c1348ed47805 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Pick up the yellow bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to hold the smooth bottle with rounded edges and shake it.", + "Grab the plastic bottle carefully and shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Use the left arm to grab the bottle with green and white labels and shake it.", + "Utilize the left arm to hold the yellow plastic bottle with white top and shake it.", + "Secure the yellow bottle with a green design and perform a shake.", + "Grab the yellow bottle and move it to shake.", + "Pick up the yellow bottle with a green design and shake it well.", + "Catch the yellow bottle with a green design and shake it instantly.", + "With the left arm, pick the bottle with green and white labels and shake properly.", + "Shake the the bottle with green and white labels properly after lifting.", + "Hold the smooth bottle with rounded edges steady, then shake it.", + "Shake the bottle with green label firmly after grabbing.", + "Grip the smooth bottle with rounded edges using the left arm and shake.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "Hold the yellow plastic bottle with white top and shake it properly.", + "Lift the yellow container with rounded edges with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with white cap.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Grab the yellow container with rounded edges and give it a shake.", + "Grasp the yellow plastic bottle with white top with the left arm and shake it.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Pick the yellow container with rounded edges and perform shaking motion.", + "Pick the smooth bottle with rounded edges, shake it with the left arm.", + "Hold and shake the the bottle with green label carefully.", + "Lift up the plastic bottle using the left arm, then shake.", + "Shake the smooth bottle with rounded edges using the left arm after grabbing.", + "Grab and shake the bottle with a smooth plastic body using the left arm.", + "Shake the bottle with green and white labels after grabbing it.", + "Pick the smooth bottle with rounded edges up with the left arm and shake.", + "Using the left arm, shake the bottle with green and white labels and then place it back.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "Lift the yellow plastic bottle with white top with the left arm and give it a shake.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Hold the yellow bottle, shake it briefly.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Use the left arm to pick and shake the bottle with green and white labels.", + "Lift the yellow bottle with a green design with the left arm and shake.", + "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.", + "Shake the bottle with white cap after lifting it.", + "Hold the yellow bottle with a green design with the left arm and shake lightly.", + "Shake the plastic bottle after holding it firmly.", + "Use the left arm to lift and shake the bottle with white cap.", + "Pick up the yellow plastic bottle with white top and shake it.", + "Use the left arm to lift and shake the bottle with white cap.", + "Shake the bottle with green label thoroughly after grabbing it.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Use the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Grab the plastic bottle carefully and shake.", + "Grab the smooth bottle with rounded edges using the left arm, then shake.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Use the left arm to grab the bottle with a smooth plastic body and shake it.", + "Utilize the left arm to hold the yellow container with rounded edges and shake it.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Grab the bottle with green and white labels and move it to shake.", + "Pick up the bottle with a smooth plastic body and shake it well.", + "Catch the yellow container with rounded edges and shake it instantly.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Shake the the bottle with green label properly after lifting.", + "Hold the bottle with white cap steady, then shake it.", + "Shake the bottle with white cap firmly after grabbing.", + "Grip the medium rectangular yellow bottle using the left arm and shake.", + "Grab the bottle with white cap with the left arm and shake.", + "Hold the yellow bottle with a green design and shake it properly.", + "Lift the medium rectangular yellow bottle with the left arm and shake it.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Take the yellow container with rounded edges using the left arm and give it a shake.", + "Grab the bottle with green and white labels and give it a shake.", + "Grasp the medium rectangular yellow bottle with the left arm and shake it.", + "Use the left arm to grab the bottle with green label and shake properly.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Pick the bottle with a smooth plastic body, shake it with the left arm.", + "Hold and shake the the bottle with green label carefully.", + "Lift up the medium rectangular yellow bottle using the left arm, then shake.", + "Shake the yellow bottle with a green design using the left arm after grabbing.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Shake the yellow bottle with a green design after grabbing it.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Lift the smooth bottle with rounded edges and shake it gently.", + "Lift the yellow container with rounded edges with the left arm and give it a shake.", + "Secure the smooth bottle with rounded edges, shake it, and place it down.", + "Hold the plastic bottle, shake it briefly.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Pick the medium rectangular yellow bottle up using the left arm and shake it.", + "Use the left arm to pick and shake the bottle with green and white labels.", + "Lift the yellow container with rounded edges with the left arm and shake.", + "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.", + "Shake the plastic bottle after lifting it.", + "Hold the smooth bottle with rounded edges with the left arm and shake lightly.", + "Shake the medium rectangular yellow bottle after holding it firmly." + ], + "unseen": [ + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode10.json b/shake_bottle/ur5_clean_50/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..ff889f157a819c254bbff26ea9882c4dde31e13b --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the plastic bottle with ribbed pattern.", + "Grab the bottle with tapered cylindrical shape and shake it steadily.", + "Hold the smooth plastic bottle for beverages with the left arm and shake lightly.", + "Hold and shake the the green-capped bottle carefully.", + "Use the left arm to grab the small drink bottle with logo and shake properly.", + "Pick up the smooth plastic bottle for beverages and shake it well.", + "Shake the small brown plastic bottle after holding it firmly.", + "Shake the small brown plastic bottle after grabbing it.", + "Using the left arm, shake the brown bottle with white printed label and then place it back.", + "Lift the hand-sized bottle with grooves with the left arm and shake.", + "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Lift the brown bottle with white printed label and shake it gently.", + "Lift up the brown bottle using the left arm, then shake.", + "Catch the bottle with green cap and shake it instantly.", + "Pick the smooth plastic bottle for beverages, shake it with the left arm.", + "Hold the smooth plastic bottle for beverages steady, then shake it.", + "Hold the plastic bottle with ribbed pattern and shake it properly.", + "Pick the hand-sized bottle with grooves up with the left arm and shake.", + "Shake the small drink bottle with logo using the left arm after grabbing.", + "Shake the the smooth plastic bottle for beverages properly after lifting.", + "Use the left arm to lift and shake the hand-sized bottle with grooves.", + "Shake the green-capped bottle thoroughly after grabbing it.", + "Take the smooth plastic bottle for beverages using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with green cap.", + "Grab the green-capped bottle and move it to shake.", + "Pick the brown bottle with white printed label up using the left arm and shake it.", + "Lift the brown bottle with the left arm and give it a shake.", + "Shake the small brown plastic bottle firmly after grabbing.", + "Utilize the left arm to hold the small drink bottle with logo and shake it.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Secure the brown bottle and perform a shake.", + "Grasp the plastic bottle with ribbed pattern with the left arm and shake it.", + "Grab and shake the plastic bottle with ribbed pattern using the left arm.", + "Lift the hand-sized bottle with grooves and shake it thoroughly.", + "Grip the small brown plastic bottle using the left arm and shake.", + "Pick up the green-capped bottle and shake it.", + "Lift the hand-sized bottle with grooves with the left arm and shake it.", + "Use the left arm to hold the cylindrical bottle with white label and shake it.", + "With the left arm, pick the brown bottle with white printed label and shake properly.", + "Use the left arm to grab the brown bottle with green screw-on cap and shake it.", + "Secure the bottle with green cap, shake it, and place it down.", + "Shake the small drink bottle with logo after grabbing it.", + "Grab the small brown plastic bottle using the left arm, then shake.", + "Shake the cylindrical bottle with white label after lifting it.", + "Grab the small brown plastic bottle with the left arm and shake.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Grab the hand-sized bottle with grooves and give it a shake.", + "Hold the brown bottle with green screw-on cap, shake it briefly.", + "Pick the brown bottle and perform shaking motion.", + "Use the left arm to pick and shake the brown bottle with green screw-on cap.", + "Grab the small brown plastic bottle and shake it steadily.", + "Hold the smooth plastic bottle for beverages with the left arm and shake lightly.", + "Hold and shake the the bottle with green cap carefully.", + "Use the left arm to grab the brown bottle with white printed label and shake properly.", + "Pick up the green-capped bottle and shake it well.", + "Shake the small drink bottle with logo after holding it firmly.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Using the left arm, shake the plastic bottle with ribbed pattern and then place it back.", + "Lift the brown bottle with white printed label with the left arm and shake.", + "Grab the brown bottle with white printed label firmly, shake it, and put it down.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Lift the small brown plastic bottle and shake it gently.", + "Lift up the brown bottle with green screw-on cap using the left arm, then shake.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Pick the small brown plastic bottle, shake it with the left arm.", + "Hold the small drink bottle with logo steady, then shake it.", + "Hold the small drink bottle with logo and shake it properly.", + "Pick the cylindrical bottle with white label up with the left arm and shake.", + "Shake the green-capped bottle using the left arm after grabbing.", + "Shake the the brown bottle with white printed label properly after lifting.", + "Use the left arm to lift and shake the cylindrical bottle with white label.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Take the bottle with tapered cylindrical shape using the left arm and give it a shake.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Grab the hand-sized bottle with grooves and move it to shake.", + "Pick the bottle with green cap up using the left arm and shake it.", + "Lift the cylindrical bottle with white label with the left arm and give it a shake.", + "Shake the bottle with tapered cylindrical shape firmly after grabbing.", + "Utilize the left arm to hold the small brown plastic bottle and shake it.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Secure the bottle with green cap and perform a shake.", + "Grasp the cylindrical bottle with white label with the left arm and shake it.", + "Grab and shake the small drink bottle with logo using the left arm.", + "Lift the brown bottle and shake it thoroughly.", + "Grip the brown bottle with green screw-on cap using the left arm and shake.", + "Pick up the bottle with green cap and shake it.", + "Lift the small drink bottle with logo with the left arm and shake it.", + "Use the left arm to hold the cylindrical bottle with white label and shake it.", + "With the left arm, pick the small brown plastic bottle and shake properly.", + "Use the left arm to grab the hand-sized bottle with grooves and shake it.", + "Secure the small brown plastic bottle, shake it, and place it down.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Grab the smooth plastic bottle for beverages using the left arm, then shake.", + "Shake the brown bottle with white printed label after lifting it.", + "Grab the green-capped bottle with the left arm and shake.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Grab the brown bottle with white printed label and give it a shake.", + "Hold the smooth plastic bottle for beverages, shake it briefly.", + "Pick the hand-sized bottle with grooves and perform shaking motion." + ], + "unseen": [ + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode11.json b/shake_bottle/ur5_clean_50/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..644194c7e47170a4e0ea46c3bab79b4338de3587 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with blue cap thoroughly after grabbing it.", + "Grab the white and blue bottle using the left arm, then shake.", + "Grab the blue bottle and give it a shake.", + "Grab and shake the handheld bottle using the left arm.", + "Take the medium-sized bottle using the left arm and give it a shake.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Secure the cylindrical bottle, shake it, and place it down.", + "Hold the medium bottle for beverages and shake it properly.", + "Pick the white bottle with blue accents up using the left arm and shake it.", + "Hold and shake the the bottle for liquids carefully.", + "Use the left arm to grab the handheld bottle and shake properly.", + "Shake the white bottle with blue accents after holding it firmly.", + "Grab the bottle with blue cap firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle with blue cap.", + "Hold the handheld bottle steady, then shake it.", + "Grab the plastic bottle carefully and shake.", + "Grasp the white and blue bottle with the left arm and shake it.", + "Pick the white and blue bottle, shake it with the left arm.", + "Secure the handheld bottle and perform a shake.", + "Lift up the handheld bottle using the left arm, then shake.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the cylindrical bottle using the left arm after grabbing.", + "Shake the white bottle with blue accents after grabbing it.", + "Catch the bottle for liquids and shake it instantly.", + "Shake the blue bottle after lifting it.", + "Use the left arm to grab the blue bottle and shake it.", + "Lift the white bottle with blue accents with the left arm and shake it.", + "Grab the handheld bottle and shake it steadily.", + "Shake the blue bottle firmly after grabbing.", + "Pick the blue bottle and perform shaking motion.", + "Pick the white and blue bottle up with the left arm and shake.", + "Shake the blue bottle after grabbing it.", + "Hold the medium-sized bottle with the left arm and shake lightly.", + "Pick up the bottle with blue cap and shake it.", + "Lift the blue bottle with label and shake it thoroughly.", + "Pick up the white and blue bottle and shake it well.", + "Use the left arm to lift and shake the white and blue bottle.", + "Utilize the left arm to hold the blue bottle with label and shake it.", + "Hold the blue bottle with label, shake it briefly.", + "Lift the blue bottle and shake it gently.", + "Shake the blue bottle with label after grabbing it.", + "Grab the bottle with blue cap and move it to shake.", + "Using the left arm, shake the medium-sized bottle and then place it back.", + "Use the left arm to pick and shake the white bottle with blue accents.", + "Grip the bottle with blue cap using the left arm and shake.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Lift the blue bottle with label with the left arm and give it a shake.", + "Shake the the cylindrical bottle properly after lifting.", + "Grab the bottle for liquids with the left arm and shake.", + "Shake the bottle with blue cap thoroughly after grabbing it.", + "Grab the bottle with blue cap using the left arm, then shake.", + "Grab the medium bottle for beverages and give it a shake.", + "Grab and shake the white and blue bottle using the left arm.", + "Take the plastic bottle using the left arm and give it a shake.", + "Lift the plastic bottle with the left arm and shake.", + "Secure the blue bottle, shake it, and place it down.", + "Hold the plastic bottle and shake it properly.", + "Pick the medium-sized bottle up using the left arm and shake it.", + "Hold and shake the the bottle for liquids carefully.", + "Use the left arm to grab the white bottle with blue accents and shake properly.", + "Shake the plastic bottle after holding it firmly.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Hold the plastic bottle steady, then shake it.", + "Grab the medium bottle for beverages carefully and shake.", + "Grasp the handheld bottle with the left arm and shake it.", + "Pick the medium bottle for beverages, shake it with the left arm.", + "Secure the medium-sized bottle and perform a shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "With the left arm, pick the white bottle with blue accents and shake properly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the white and blue bottle using the left arm after grabbing.", + "Shake the white and blue bottle after grabbing it.", + "Catch the blue bottle with label and shake it instantly.", + "Shake the medium-sized bottle after lifting it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Lift the blue bottle with the left arm and shake it.", + "Grab the white bottle with blue accents and shake it steadily.", + "Shake the cylindrical bottle firmly after grabbing.", + "Pick the bottle for liquids and perform shaking motion.", + "Pick the bottle for liquids up with the left arm and shake.", + "Shake the blue bottle after grabbing it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Pick up the plastic bottle and shake it.", + "Lift the blue bottle with label and shake it thoroughly.", + "Pick up the plastic bottle and shake it well.", + "Use the left arm to lift and shake the handheld bottle.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold the handheld bottle, shake it briefly.", + "Lift the bottle with blue cap and shake it gently.", + "Shake the bottle for liquids after grabbing it.", + "Grab the bottle for liquids and move it to shake.", + "Using the left arm, shake the cylindrical bottle and then place it back.", + "Use the left arm to pick and shake the handheld bottle.", + "Grip the plastic bottle using the left arm and shake.", + "Use the left arm to hold the white and blue bottle and shake it.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Shake the the medium bottle for beverages properly after lifting.", + "Grab the cylindrical bottle with the left arm and shake." + ], + "unseen": [ + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode12.json b/shake_bottle/ur5_clean_50/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..72edb5605599bdedc364d28b0c645690066b9724 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow container with rounded edges after holding it firmly.", + "Grab the bottle with green label and shake it steadily.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Grab the yellow bottle carefully and shake.", + "Using the right arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Pick up the yellow container with rounded edges and shake it.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Shake the plastic bottle after grabbing it.", + "Grab the yellow bottle with a green design and move it to shake.", + "Take the bottle with green and white labels using the right arm and give it a shake.", + "Pick up the bottle with white cap and shake it well.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the bottle with white cap using the right arm after grabbing.", + "Use the right arm to hold the yellow container with rounded edges and shake it.", + "With the right arm, pick the smooth bottle with rounded edges and shake properly.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Lift the bottle with white cap and shake it thoroughly.", + "Grip the bottle with white cap using the right arm and shake.", + "Catch the bottle with white cap and shake it instantly.", + "Grab the bottle with green label with the right arm and shake.", + "Use the right arm to grab the bottle with green label and shake properly.", + "Use the right arm to grab the plastic bottle and shake it.", + "Hold the bottle with white cap with the right arm and shake lightly.", + "Lift the smooth bottle with rounded edges with the right arm and shake.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Grab the yellow container with rounded edges using the right arm, then shake.", + "Shake the yellow bottle after grabbing it.", + "Shake the bottle with green label firmly after grabbing.", + "Grab the yellow container with rounded edges and give it a shake.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Shake the plastic bottle after lifting it.", + "Hold the smooth bottle with rounded edges steady, then shake it.", + "Grasp the smooth bottle with rounded edges with the right arm and shake it.", + "Pick the yellow bottle, shake it with the right arm.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Hold the yellow bottle, shake it briefly.", + "Lift the smooth bottle with rounded edges and shake it gently.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Pick the bottle with green and white labels up using the right arm and shake it.", + "Pick the yellow bottle up with the right arm and shake.", + "Lift the rectangular bottle with cylindrical neck with the right arm and give it a shake.", + "Hold the bottle with white cap and shake it properly.", + "Lift the yellow container with rounded edges with the right arm and shake it.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Use the right arm to pick and shake the yellow container with rounded edges.", + "Grab and shake the medium rectangular yellow bottle using the right arm.", + "Utilize the right arm to hold the yellow bottle and shake it.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Grab the yellow bottle and shake it steadily.", + "Use the right arm to lift and shake the bottle with white cap.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Grab the bottle with green label carefully and shake.", + "Using the right arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Use the right arm to lift and shake the bottle with green label.", + "Shake the plastic bottle after grabbing it.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Take the bottle with white cap using the right arm and give it a shake.", + "Pick up the bottle with white cap and shake it well.", + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Use the right arm to hold the plastic bottle and shake it.", + "With the right arm, pick the yellow bottle with a green design and shake properly.", + "Shake the bottle with green and white labels after grabbing it.", + "Lift the bottle with green and white labels and shake it thoroughly.", + "Grip the yellow container with rounded edges using the right arm and shake.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Grab the rectangular bottle with cylindrical neck with the right arm and shake.", + "Use the right arm to grab the smooth bottle with rounded edges and shake properly.", + "Use the right arm to grab the yellow bottle with a green design and shake it.", + "Hold the bottle with green label with the right arm and shake lightly.", + "Lift the plastic bottle with the right arm and shake.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Grab the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Shake the bottle with green label after grabbing it.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Grab the yellow container with rounded edges and give it a shake.", + "Shake the the yellow bottle properly after lifting.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Hold the bottle with white cap steady, then shake it.", + "Grasp the yellow bottle with a green design with the right arm and shake it.", + "Pick the yellow plastic bottle with white top, shake it with the right arm.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Hold the smooth bottle with rounded edges, shake it briefly.", + "Lift the bottle with white cap and shake it gently.", + "Secure the bottle with green label and perform a shake.", + "Pick the bottle with green label up using the right arm and shake it.", + "Pick the bottle with white cap up with the right arm and shake.", + "Lift the medium rectangular yellow bottle with the right arm and give it a shake.", + "Hold the bottle with white cap and shake it properly.", + "Lift the bottle with green label with the right arm and shake it.", + "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Secure the smooth bottle with rounded edges, shake it, and place it down.", + "Use the right arm to pick and shake the rectangular bottle with cylindrical neck.", + "Grab and shake the rectangular bottle with cylindrical neck using the right arm.", + "Utilize the right arm to hold the bottle with white cap and shake it." + ], + "unseen": [ + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode13.json b/shake_bottle/ur5_clean_50/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..7e61727f54dfe86496270f0b9215d63d87109e4b --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Lift up the bottle with flat sides and logo using the left arm, then shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Lift the medium bottle with glossy surface and shake it thoroughly.", + "Grasp the dark brown bottle with a squared body with the left arm and shake it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the smooth brown bottle with green label carefully and shake.", + "Shake the dark brown bottle with a squared body using the left arm after grabbing.", + "Lift the bottle with flat sides and logo with the left arm and give it a shake.", + "Using the left arm, shake the medium bottle with glossy surface and then place it back.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Lift the bottle with green cap and shake it gently.", + "Hold the bottle with flat sides and logo with the left arm and shake lightly.", + "Shake the brown bottle with rounded rectangular shape after lifting it.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Use the left arm to pick and shake the brown bottle with rounded rectangular shape.", + "With the left arm, pick the rectangular brown body with white top and shake properly.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Grip the brown bottle using the left arm and shake.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Shake the smooth brown bottle with green label after holding it firmly.", + "Pick the dark brown bottle with a squared body, shake it with the left arm.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Take the smooth brown bottle with green label using the left arm and give it a shake.", + "Hold the medium bottle with glossy surface steady, then shake it.", + "Pick up the smooth plastic bottle with white cap and shake it.", + "Secure the medium bottle with glossy surface, shake it, and place it down.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Lift the smooth brown bottle with green label with the left arm and shake it.", + "Grab the dark brown bottle with a squared body using the left arm, then shake.", + "Pick the dark brown bottle with a squared body and perform shaking motion.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Hold the medium-sized brown plastic bottle, shake it briefly.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Pick up the rectangular-shaped bottle with round cap and shake it well.", + "Use the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to grab the bottle with green cap and shake it.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Use the left arm to lift and shake the smooth plastic bottle with white cap.", + "Shake the the dark brown bottle with a squared body properly after lifting.", + "Hold and shake the the rectangular-shaped bottle with round cap carefully.", + "Grab the brown bottle with rounded rectangular shape and give it a shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the smooth plastic bottle with white cap and shake it steadily.", + "Grab the dark brown bottle with a squared body with the left arm and shake.", + "Lift the brown bottle with the left arm and shake.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Lift up the bottle with green cap using the left arm, then shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Lift the brown bottle with rounded rectangular shape and shake it thoroughly.", + "Grasp the brown bottle with rounded rectangular shape with the left arm and shake it.", + "Pick the medium-sized brown plastic bottle up using the left arm and shake it.", + "Grab the medium bottle with glossy surface carefully and shake.", + "Shake the medium-sized brown plastic bottle using the left arm after grabbing.", + "Lift the brown bottle with rounded rectangular shape with the left arm and give it a shake.", + "Using the left arm, shake the rectangular brown body with white top and then place it back.", + "Catch the medium-sized brown plastic bottle and shake it instantly.", + "Lift the brown bottle and shake it gently.", + "Hold the medium bottle with glossy surface with the left arm and shake lightly.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Use the left arm to pick and shake the plastic bottle.", + "With the left arm, pick the smooth plastic bottle with white cap and shake properly.", + "Use the left arm to lift and shake the brown bottle.", + "Grip the dark brown bottle with a squared body using the left arm and shake.", + "Shake the brown bottle after grabbing it.", + "Shake the smooth plastic bottle with white cap after holding it firmly.", + "Pick the rectangular-shaped bottle with round cap, shake it with the left arm.", + "Shake the bottle with green cap after grabbing it.", + "Hold the dark brown bottle with a squared body and shake it properly.", + "Take the dark brown bottle with a squared body using the left arm and give it a shake.", + "Hold the medium bottle with glossy surface steady, then shake it.", + "Pick up the brown bottle and shake it.", + "Secure the bottle with green cap, shake it, and place it down.", + "Grab the smooth brown bottle with green label and move it to shake.", + "Lift the dark brown bottle with a squared body with the left arm and shake it.", + "Grab the rectangular brown body with white top using the left arm, then shake.", + "Pick the smooth plastic bottle with white cap and perform shaking motion.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Use the left arm to grab the brown bottle and shake properly.", + "Hold the brown bottle, shake it briefly.", + "Secure the smooth brown bottle with green label and perform a shake.", + "Shake the bottle with flat sides and logo thoroughly after grabbing it.", + "Pick up the rectangular-shaped bottle with round cap and shake it well.", + "Use the left arm to hold the bottle with green cap and shake it.", + "Pick the brown bottle up with the left arm and shake.", + "Use the left arm to grab the medium bottle with glossy surface and shake it.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Use the left arm to lift and shake the medium bottle with glossy surface.", + "Shake the the dark brown bottle with a squared body properly after lifting.", + "Hold and shake the the plastic bottle carefully.", + "Grab the bottle with flat sides and logo and give it a shake.", + "Grab the bottle with green cap firmly, shake it, and put it down.", + "Grab the bottle with green cap and shake it steadily.", + "Grab the bottle with green cap with the left arm and shake.", + "Lift the medium-sized brown plastic bottle with the left arm and shake." + ], + "unseen": [ + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode14.json b/shake_bottle/ur5_clean_50/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..b58c1db7bc72396068d7f0647b341d1abbd8760e --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with sealed yellow cap and shake it gently.", + "Pick up the bottle with yellow cap and shake it.", + "Use the left arm to pick and shake the cylindrical orange bottle with yellow top.", + "Using the left arm, shake the bottle with narrow neck and then place it back.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Shake the bottle with printed label after grabbing it.", + "Lift the bottle with narrow neck with the left arm and shake.", + "Shake the plastic bottle with sealed yellow cap using the left arm after grabbing.", + "Pick the cylindrical orange bottle with yellow top, shake it with the left arm.", + "Shake the the plastic bottle properly after lifting.", + "Pick the medium-sized orange bottle up with the left arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Shake the cylindrical orange bottle with yellow top after holding it firmly.", + "Use the left arm to lift and shake the yellow-capped plastic bottle.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Lift up the bottle with narrow neck using the left arm, then shake.", + "Use the left arm to grab the medium-sized orange bottle and shake it.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Shake the plastic bottle with sealed yellow cap after lifting it.", + "Hold the plastic bottle with sealed yellow cap steady, then shake it.", + "Hold the bottle with yellow cap, shake it briefly.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "Hold the orange bottle and shake it properly.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Grab the bottle with printed label and give it a shake.", + "Secure the cylindrical orange bottle with yellow top and perform a shake.", + "Hold and shake the the bottle for liquids carefully.", + "Grab the orange cylindrical bottle carefully and shake.", + "Pick up the smooth plastic bottle and shake it well.", + "Catch the plastic bottle and shake it instantly.", + "Grasp the bottle with narrow neck with the left arm and shake it.", + "Grab the cylindrical orange bottle with yellow top with the left arm and shake.", + "Take the orange bottle using the left arm and give it a shake.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Lift the yellow-capped plastic bottle with the left arm and give it a shake.", + "Grab and shake the plastic bottle with sealed yellow cap using the left arm.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Grip the medium-sized orange bottle using the left arm and shake.", + "Grab the bottle with yellow cap and shake it steadily.", + "Grab the bottle for liquids using the left arm, then shake.", + "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.", + "Lift the bottle for liquids with the left arm and shake it.", + "Lift the orange bottle and shake it gently.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Use the left arm to pick and shake the bottle with narrow neck.", + "Using the left arm, shake the medium-sized orange bottle and then place it back.", + "Pick the orange bottle and perform shaking motion.", + "Use the left arm to lift and shake the yellow-capped plastic bottle.", + "Shake the smooth plastic bottle after grabbing it.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Pick the cylindrical orange bottle with yellow top, shake it with the left arm.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Pick the plastic bottle with sealed yellow cap up with the left arm and shake.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Shake the bottle for liquids after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "With the left arm, pick the orange cylindrical bottle and shake properly.", + "Lift up the bottle with yellow cap using the left arm, then shake.", + "Use the left arm to grab the orange bottle and shake it.", + "Utilize the left arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Shake the medium-sized orange bottle after grabbing it.", + "Shake the yellow-capped plastic bottle after lifting it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Hold the bottle with printed label, shake it briefly.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Hold the orange bottle and shake it properly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold the plastic bottle with sealed yellow cap with the left arm and shake lightly.", + "Shake the bottle with printed label after grabbing it.", + "Grab the medium-sized orange bottle and give it a shake.", + "Secure the medium-sized orange bottle and perform a shake.", + "Hold and shake the the orange bottle carefully.", + "Grab the cylindrical orange bottle with yellow top carefully and shake.", + "Pick up the plastic bottle and shake it well.", + "Catch the bottle with narrow neck and shake it instantly.", + "Grasp the orange cylindrical bottle with the left arm and shake it.", + "Grab the medium-sized orange bottle with the left arm and shake.", + "Take the plastic bottle with sealed yellow cap using the left arm and give it a shake.", + "Shake the bottle with narrow neck thoroughly after grabbing it.", + "Lift the bottle with printed label with the left arm and give it a shake.", + "Grab and shake the bottle with narrow neck using the left arm.", + "Shake the bottle with narrow neck firmly after grabbing.", + "Grip the bottle with printed label using the left arm and shake.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Grab the bottle with yellow cap using the left arm, then shake.", + "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Pick the bottle with printed label up using the left arm and shake it.", + "Lift the bottle with narrow neck with the left arm and shake it." + ], + "unseen": [ + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode15.json b/shake_bottle/ur5_clean_50/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..47c685973c354b0971ce4bdfd29c360da5380adc --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the medium-sized orange bottle and shake properly.", + "Shake the bottle for liquids after grabbing it.", + "Shake the the bottle with yellow cap properly after lifting.", + "Hold the bottle with narrow neck steady, then shake it.", + "Use the right arm to grab the cylindrical orange bottle with yellow top and shake it.", + "Use the right arm to hold the bottle with yellow cap and shake it.", + "Lift the medium-sized orange bottle with the right arm and shake it.", + "Grab the bottle for liquids and shake it steadily.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Pick the plastic bottle with sealed yellow cap up with the right arm and shake.", + "Grab the bottle with printed label using the right arm, then shake.", + "Grab the orange cylindrical bottle and give it a shake.", + "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "With the right arm, pick the yellow-capped plastic bottle and shake properly.", + "Shake the yellow-capped plastic bottle after holding it firmly.", + "Hold the yellow-capped plastic bottle, shake it briefly.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Shake the yellow-capped plastic bottle thoroughly after grabbing it.", + "Shake the orange bottle after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the bottle with yellow cap and shake it properly.", + "Pick up the orange cylindrical bottle and shake it well.", + "Lift the plastic bottle with sealed yellow cap with the right arm and give it a shake.", + "Grasp the bottle with narrow neck with the right arm and shake it.", + "Catch the bottle with yellow cap and shake it instantly.", + "Utilize the right arm to hold the bottle for liquids and shake it.", + "Grab the orange bottle and move it to shake.", + "Pick up the orange bottle and shake it.", + "Grab and shake the orange bottle using the right arm.", + "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Grab the bottle for liquids with the right arm and shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Use the right arm to pick and shake the bottle for liquids.", + "Lift the smooth plastic bottle and shake it gently.", + "Take the cylindrical orange bottle with yellow top using the right arm and give it a shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Pick the orange bottle up using the right arm and shake it.", + "Lift the yellow-capped plastic bottle with the right arm and shake.", + "Grab the orange cylindrical bottle firmly, shake it, and put it down.", + "Shake the bottle for liquids after lifting it.", + "Lift up the orange bottle using the right arm, then shake.", + "Grab the smooth plastic bottle carefully and shake.", + "Secure the bottle with yellow cap and perform a shake.", + "Pick the orange bottle, shake it with the right arm.", + "Shake the bottle for liquids after grabbing it.", + "Shake the bottle with yellow cap using the right arm after grabbing.", + "Grip the orange bottle using the right arm and shake.", + "Use the right arm to grab the medium-sized orange bottle and shake properly.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the the smooth plastic bottle properly after lifting.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Use the right arm to grab the bottle for liquids and shake it.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Grab the bottle for liquids and shake it steadily.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Pick the orange bottle up with the right arm and shake.", + "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Grab the bottle for liquids and give it a shake.", + "Use the right arm to lift and shake the bottle with printed label.", + "Secure the orange bottle, shake it, and place it down.", + "With the right arm, pick the cylindrical orange bottle with yellow top and shake properly.", + "Shake the orange cylindrical bottle after holding it firmly.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Shake the bottle with printed label thoroughly after grabbing it.", + "Shake the orange cylindrical bottle after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the smooth plastic bottle and shake it properly.", + "Pick up the plastic bottle and shake it well.", + "Lift the medium-sized orange bottle with the right arm and give it a shake.", + "Grasp the orange cylindrical bottle with the right arm and shake it.", + "Catch the smooth plastic bottle and shake it instantly.", + "Utilize the right arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Grab the bottle with yellow cap and move it to shake.", + "Pick up the orange bottle and shake it.", + "Grab and shake the plastic bottle with sealed yellow cap using the right arm.", + "Using the right arm, shake the bottle with narrow neck and then place it back.", + "Hold the yellow-capped plastic bottle with the right arm and shake lightly.", + "Grab the bottle with yellow cap with the right arm and shake.", + "Pick the orange bottle and perform shaking motion.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Use the right arm to pick and shake the bottle for liquids.", + "Lift the medium-sized orange bottle and shake it gently.", + "Take the cylindrical orange bottle with yellow top using the right arm and give it a shake.", + "Hold and shake the the plastic bottle carefully.", + "Pick the orange cylindrical bottle up using the right arm and shake it.", + "Lift the bottle with narrow neck with the right arm and shake.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Shake the plastic bottle after lifting it.", + "Lift up the orange bottle using the right arm, then shake.", + "Grab the orange cylindrical bottle carefully and shake.", + "Secure the medium-sized orange bottle and perform a shake.", + "Pick the yellow-capped plastic bottle, shake it with the right arm.", + "Shake the medium-sized orange bottle after grabbing it.", + "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.", + "Grip the plastic bottle using the right arm and shake." + ], + "unseen": [ + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode16.json b/shake_bottle/ur5_clean_50/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..2c4483a70167b44aec371f8f12775a55c0a3c7e5 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small brown plastic bottle and shake it steadily.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Lift the bottle with tapered cylindrical shape with the left arm and shake it.", + "Pick the bottle with tapered cylindrical shape up using the left arm and shake it.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Grasp the brown bottle with white printed label with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Secure the cylindrical bottle with white label, shake it, and place it down.", + "Hold the bottle with tapered cylindrical shape, shake it briefly.", + "Shake the the cylindrical bottle with white label properly after lifting.", + "Pick the smooth plastic bottle for beverages, shake it with the left arm.", + "Hold and shake the the small drink bottle with logo carefully.", + "Use the left arm to grab the smooth plastic bottle for beverages and shake properly.", + "Take the smooth plastic bottle for beverages using the left arm and give it a shake.", + "Grab the brown bottle with white printed label and give it a shake.", + "Use the left arm to hold the smooth plastic bottle for beverages and shake it.", + "Lift the bottle with green cap with the left arm and shake.", + "Pick up the brown bottle with green screw-on cap and shake it.", + "Pick the brown bottle with white printed label and perform shaking motion.", + "Hold the cylindrical bottle with white label steady, then shake it.", + "Grab the small drink bottle with logo with the left arm and shake.", + "Lift the brown bottle with green screw-on cap and shake it thoroughly.", + "Grab and shake the plastic bottle with ribbed pattern using the left arm.", + "Grab the brown bottle with white printed label firmly, shake it, and put it down.", + "Use the left arm to grab the hand-sized bottle with grooves and shake it.", + "Use the left arm to pick and shake the brown bottle.", + "Grab the green-capped bottle carefully and shake.", + "Secure the bottle with tapered cylindrical shape and perform a shake.", + "Using the left arm, shake the small drink bottle with logo and then place it back.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Hold the small brown plastic bottle with the left arm and shake lightly.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Shake the brown bottle with green screw-on cap firmly after grabbing.", + "Lift the cylindrical bottle with white label and shake it gently.", + "Lift up the small drink bottle with logo using the left arm, then shake.", + "Utilize the left arm to hold the bottle with tapered cylindrical shape and shake it.", + "Pick the hand-sized bottle with grooves up with the left arm and shake.", + "Shake the plastic bottle with ribbed pattern after lifting it.", + "Shake the plastic bottle with ribbed pattern using the left arm after grabbing.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Hold the smooth plastic bottle for beverages and shake it properly.", + "Lift the brown bottle with green screw-on cap with the left arm and give it a shake.", + "Pick up the small brown plastic bottle and shake it well.", + "Shake the green-capped bottle after holding it firmly.", + "With the left arm, pick the green-capped bottle and shake properly.", + "Grab the bottle with tapered cylindrical shape and move it to shake.", + "Grab the brown bottle with white printed label using the left arm, then shake.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Grip the brown bottle with white printed label using the left arm and shake.", + "Grab the small brown plastic bottle and shake it steadily.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Lift the brown bottle with green screw-on cap with the left arm and shake it.", + "Pick the brown bottle with green screw-on cap up using the left arm and shake it.", + "Shake the green-capped bottle after grabbing it.", + "Grasp the brown bottle with the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Use the left arm to lift and shake the bottle with green cap.", + "Secure the bottle with tapered cylindrical shape, shake it, and place it down.", + "Hold the brown bottle with white printed label, shake it briefly.", + "Shake the the small drink bottle with logo properly after lifting.", + "Pick the plastic bottle with ribbed pattern, shake it with the left arm.", + "Hold and shake the the smooth plastic bottle for beverages carefully.", + "Use the left arm to grab the hand-sized bottle with grooves and shake properly.", + "Take the small brown plastic bottle using the left arm and give it a shake.", + "Grab the green-capped bottle and give it a shake.", + "Use the left arm to hold the smooth plastic bottle for beverages and shake it.", + "Lift the cylindrical bottle with white label with the left arm and shake.", + "Pick up the plastic bottle with ribbed pattern and shake it.", + "Pick the bottle with green cap and perform shaking motion.", + "Hold the cylindrical bottle with white label steady, then shake it.", + "Grab the small drink bottle with logo with the left arm and shake.", + "Lift the brown bottle with green screw-on cap and shake it thoroughly.", + "Grab and shake the cylindrical bottle with white label using the left arm.", + "Grab the brown bottle with white printed label firmly, shake it, and put it down.", + "Use the left arm to grab the brown bottle with white printed label and shake it.", + "Use the left arm to pick and shake the hand-sized bottle with grooves.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Secure the small brown plastic bottle and perform a shake.", + "Using the left arm, shake the smooth plastic bottle for beverages and then place it back.", + "Use the left arm to lift and shake the brown bottle.", + "Hold the small brown plastic bottle with the left arm and shake lightly.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Shake the brown bottle with white printed label firmly after grabbing.", + "Lift the brown bottle and shake it gently.", + "Lift up the bottle with green cap using the left arm, then shake.", + "Utilize the left arm to hold the plastic bottle with ribbed pattern and shake it.", + "Pick the brown bottle with green screw-on cap up with the left arm and shake.", + "Shake the brown bottle with green screw-on cap after lifting it.", + "Shake the cylindrical bottle with white label using the left arm after grabbing.", + "Catch the cylindrical bottle with white label and shake it instantly.", + "Hold the smooth plastic bottle for beverages and shake it properly.", + "Lift the brown bottle with white printed label with the left arm and give it a shake.", + "Pick up the bottle with tapered cylindrical shape and shake it well.", + "Shake the brown bottle with green screw-on cap after holding it firmly.", + "With the left arm, pick the smooth plastic bottle for beverages and shake properly.", + "Grab the brown bottle with green screw-on cap and move it to shake.", + "Grab the brown bottle with green screw-on cap using the left arm, then shake.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Grip the small drink bottle with logo using the left arm and shake." + ], + "unseen": [ + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode17.json b/shake_bottle/ur5_clean_50/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..1a9d42602516593f564c8bfb50a75668970a6ee1 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the narrow-necked bottle after holding it firmly.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Secure the smooth bottle with red lid and perform a shake.", + "Grab the narrow-necked bottle and shake it steadily.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Grab the bottle with white neck and red top and give it a shake.", + "Grab the long thin bottle using the right arm, then shake.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Hold the medium dark brown bottle steady, then shake it.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Grab the long thin bottle carefully and shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Pick up the medium dark brown bottle and shake it.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Shake the brown bottle with red label using the right arm after grabbing.", + "Shake the the red-capped bottle properly after lifting.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Using the right arm, shake the plastic drink bottle and then place it back.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Lift the red-capped bottle with the right arm and shake it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Shake the plastic drink bottle after grabbing it.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Catch the long thin bottle and shake it instantly.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Shake the red-capped bottle after grabbing it.", + "Grab the brown bottle with red label with the right arm and shake.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Shake the Coca-Cola bottle after lifting it.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Lift the brown bottle with red label and shake it gently.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Hold and shake the the narrow-necked bottle carefully.", + "Shake the narrow-necked bottle after holding it firmly.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Secure the red-capped bottle and perform a shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Grab the red-capped bottle and give it a shake.", + "Grab the red-capped bottle using the right arm, then shake.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Pick up the Coca-Cola bottle and shake it.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Hold the long thin bottle and shake it properly.", + "Grab the dark drink bottle with logo and move it to shake.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Catch the red-capped bottle and shake it instantly.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Shake the red-capped bottle after lifting it.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Lift the brown bottle with red label with the right arm and shake.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Hold and shake the the red-capped bottle carefully." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode18.json b/shake_bottle/ur5_clean_50/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..4cd0f11d1d69ee4a3a44f29d5042038061313a8d --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with dark brown color, shake it, and place it down.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake it.", + "Lift up the medium plastic bottle using the right arm, then shake.", + "Pick the smooth brown bottle and perform shaking motion.", + "Using the right arm, shake the plastic bottle for liquids and then place it back.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Shake the medium plastic bottle after lifting it.", + "Use the right arm to grab the medium bottle with smooth texture and shake it.", + "Grab and shake the white-capped brown cylindrical bottle using the right arm.", + "Grab the plastic bottle for liquids and move it to shake.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Pick the bottle with white cap up with the right arm and shake.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Shake the bottle with brown body and white top using the right arm after grabbing.", + "Lift the plastic bottle for liquids and shake it gently.", + "Utilize the right arm to hold the plastic bottle for liquids and shake it.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "With the right arm, pick the handheld brown bottle with white lid and shake properly.", + "Hold the medium plastic bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Grab the bottle with dark brown color carefully and shake.", + "Pick up the medium bottle with smooth texture and shake it.", + "Shake the smooth brown bottle after grabbing it.", + "Shake the the bottle with dark brown color properly after lifting.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Grab the medium plastic bottle and give it a shake.", + "Secure the bottle with white cap and perform a shake.", + "Pick the bottle with white cap, shake it with the right arm.", + "Pick up the plastic bottle with printed label and shake it well.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Grasp the rounded bottle with printed details with the right arm and shake it.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Grip the bottle with white cap using the right arm and shake.", + "Shake the plastic bottle for liquids after grabbing it.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Pick the handheld brown bottle with white lid up using the right arm and shake it.", + "Hold and shake the the medium bottle with smooth texture carefully.", + "Shake the smooth brown bottle after grabbing it.", + "Lift the medium bottle with smooth texture with the right arm and shake.", + "Use the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Use the right arm to grab the handheld brown bottle with white lid and shake properly.", + "Shake the bottle with dark brown color after holding it firmly.", + "Use the right arm to pick and shake the white-capped brown cylindrical bottle.", + "Grab the rounded bottle with printed details with the right arm and shake.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.", + "Grab the bottle with dark brown color and shake it steadily.", + "Hold the bottle with white cap and shake it properly.", + "Secure the bottle with white cap, shake it, and place it down.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake it.", + "Lift up the plastic bottle for liquids using the right arm, then shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Using the right arm, shake the medium plastic bottle and then place it back.", + "Hold the smooth brown bottle, shake it briefly.", + "Shake the white-capped brown cylindrical bottle after lifting it.", + "Use the right arm to grab the smooth brown bottle and shake it.", + "Grab and shake the bottle with dark brown color using the right arm.", + "Grab the bottle with brown body and white top and move it to shake.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Pick the bottle with white cap up with the right arm and shake.", + "Grab the plastic bottle for liquids using the right arm, then shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Shake the plastic bottle for liquids using the right arm after grabbing.", + "Lift the medium plastic bottle and shake it gently.", + "Utilize the right arm to hold the plastic bottle for liquids and shake it.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "With the right arm, pick the medium bottle with smooth texture and shake properly.", + "Hold the medium plastic bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "Grab the plastic bottle for liquids carefully and shake.", + "Pick up the medium bottle with smooth texture and shake it.", + "Shake the smooth brown bottle after grabbing it.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Lift the smooth brown bottle and shake it thoroughly.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Secure the plastic bottle for liquids and perform a shake.", + "Pick the plastic bottle for liquids, shake it with the right arm.", + "Pick up the smooth brown bottle and shake it well.", + "Catch the bottle with white cap and shake it instantly.", + "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.", + "Hold the rounded bottle with printed details steady, then shake it.", + "Grip the medium bottle with smooth texture using the right arm and shake.", + "Shake the bottle with dark brown color after grabbing it.", + "Shake the rounded bottle with printed details firmly after grabbing.", + "Pick the medium plastic bottle up using the right arm and shake it.", + "Hold and shake the the medium bottle with smooth texture carefully.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Lift the handheld brown bottle with white lid with the right arm and shake.", + "Use the right arm to hold the bottle with white cap and shake it.", + "Use the right arm to grab the rounded bottle with printed details and shake properly.", + "Shake the bottle with white cap after holding it firmly.", + "Use the right arm to pick and shake the plastic bottle with printed label.", + "Grab the plastic bottle for liquids with the right arm and shake.", + "Take the bottle with white cap using the right arm and give it a shake.", + "Lift the bottle with brown body and white top with the right arm and give it a shake.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Hold the rounded bottle with printed details and shake it properly." + ], + "unseen": [ + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode19.json b/shake_bottle/ur5_clean_50/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d94cb79fcb0dedfb185ade88d04f3a52d39f74 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the brown bottle with red label and shake it well.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Pick up the medium dark brown bottle and shake it.", + "Pick the long thin bottle, shake it with the left arm.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "With the left arm, pick the long thin bottle and shake properly.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Pick the red-capped bottle up with the left arm and shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Shake the long thin bottle after lifting it.", + "Grab the hand-sized soda bottle and move it to shake.", + "Shake the red-capped bottle after grabbing it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Hold the narrow-necked bottle steady, then shake it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the long thin bottle after grabbing it.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Hold the narrow-necked bottle and shake it properly.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Grab the red-capped bottle and give it a shake.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Lift the brown bottle with red label with the left arm and shake.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Pick up the red-capped bottle and shake it.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Grab and shake the brown bottle with red label using the left arm.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Shake the narrow-necked bottle after lifting it.", + "Grab the medium dark brown bottle and move it to shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to hold the long thin bottle and shake it.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Shake the the plastic drink bottle properly after lifting.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Hold the red-capped bottle and shake it properly.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Grab the brown bottle with red label and give it a shake.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the red-capped bottle after holding it firmly.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Grab the narrow-necked bottle and shake it steadily." + ], + "unseen": [ + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode2.json b/shake_bottle/ur5_clean_50/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..523f16001dc41063b83662c797ee73446dd0b953 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium bottle with smooth texture and shake it properly.", + "With the left arm, pick the medium plastic bottle and shake properly.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Grab the white-capped brown cylindrical bottle with the left arm and shake.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Lift the bottle with brown body and white top with the left arm and shake it.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Pick the rounded bottle with printed details up with the left arm and shake.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Lift the smooth brown bottle and shake it gently.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Pick the plastic bottle for liquids and perform shaking motion.", + "Using the left arm, shake the plastic bottle with printed label and then place it back.", + "Lift up the bottle with brown body and white top using the left arm, then shake.", + "Grab the bottle with dark brown color using the left arm, then shake.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Lift the medium bottle with smooth texture with the left arm and shake.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Grab the bottle with dark brown color and move it to shake.", + "Grab the bottle with brown body and white top and give it a shake.", + "Use the left arm to grab the medium plastic bottle and shake properly.", + "Use the left arm to lift and shake the plastic bottle with printed label.", + "Pick the medium plastic bottle up using the left arm and shake it.", + "Secure the bottle with white cap, shake it, and place it down.", + "Pick up the smooth brown bottle and shake it well.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Shake the plastic bottle with printed label after lifting it.", + "Shake the smooth brown bottle after holding it firmly.", + "Pick up the bottle with dark brown color and shake it.", + "Grab and shake the medium bottle with smooth texture using the left arm.", + "Secure the plastic bottle with printed label and perform a shake.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "Use the left arm to grab the plastic bottle with printed label and shake it.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Grip the plastic bottle for liquids using the left arm and shake.", + "Hold and shake the the smooth brown bottle carefully.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Utilize the left arm to hold the bottle with brown body and white top and shake it.", + "Use the left arm to pick and shake the plastic bottle with printed label.", + "Pick the handheld brown bottle with white lid, shake it with the left arm.", + "Lift the plastic bottle for liquids with the left arm and give it a shake.", + "Shake the bottle with dark brown color after grabbing it.", + "Hold the bottle with white cap, shake it briefly.", + "Use the left arm to hold the medium bottle with smooth texture and shake it.", + "Take the bottle with dark brown color using the left arm and give it a shake.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Hold the smooth brown bottle and shake it properly.", + "With the left arm, pick the bottle with dark brown color and shake properly.", + "Shake the the medium bottle with smooth texture properly after lifting.", + "Grab the medium plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Lift the bottle with white cap with the left arm and shake it.", + "Lift the smooth brown bottle and shake it thoroughly.", + "Pick the cylindrical bottle with narrow neck up with the left arm and shake.", + "Hold the medium bottle with smooth texture with the left arm and shake lightly.", + "Catch the bottle with brown body and white top and shake it instantly.", + "Lift the bottle with brown body and white top and shake it gently.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Using the left arm, shake the bottle with brown body and white top and then place it back.", + "Lift up the plastic bottle with printed label using the left arm, then shake.", + "Grab the bottle with dark brown color using the left arm, then shake.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Lift the bottle with white cap with the left arm and shake.", + "Grab the medium plastic bottle and shake it steadily.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Grab the bottle with white cap and move it to shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Use the left arm to lift and shake the bottle with white cap.", + "Pick the handheld brown bottle with white lid up using the left arm and shake it.", + "Secure the medium plastic bottle, shake it, and place it down.", + "Pick up the smooth brown bottle and shake it well.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Shake the bottle with dark brown color after lifting it.", + "Shake the bottle with white cap after holding it firmly.", + "Pick up the rounded bottle with printed details and shake it.", + "Grab and shake the white-capped brown cylindrical bottle using the left arm.", + "Secure the bottle with brown body and white top and perform a shake.", + "Grasp the white-capped brown cylindrical bottle with the left arm and shake it.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Use the left arm to grab the bottle with brown body and white top and shake it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Grip the white-capped brown cylindrical bottle using the left arm and shake.", + "Hold and shake the the bottle with dark brown color carefully.", + "Grab the bottle with brown body and white top carefully and shake.", + "Utilize the left arm to hold the bottle with dark brown color and shake it.", + "Use the left arm to pick and shake the bottle with brown body and white top.", + "Pick the rounded bottle with printed details, shake it with the left arm.", + "Lift the plastic bottle for liquids with the left arm and give it a shake.", + "Shake the medium plastic bottle after grabbing it.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Shake the medium plastic bottle using the left arm after grabbing." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode20.json b/shake_bottle/ur5_clean_50/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..739e56fa7363335f4074fbfe9be546229cf11281 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the yellow bottle with blue label and shake it instantly.", + "Hold the medium-sized bottle and shake it properly.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the smooth plastic bottle carefully and shake.", + "Shake the smooth plastic bottle after lifting it.", + "Grab the medium plastic bottle with cap and shake it steadily.", + "Use the left arm to grab the bottle for liquid and shake properly.", + "Grasp the yellow bottle with dark label with the left arm and shake it.", + "Secure the yellow bottle and perform a shake.", + "Pick up the medium plastic bottle with cap and shake it.", + "Grab the yellow bottle with dark label using the left arm, then shake.", + "Shake the yellow bottle with blue label firmly after grabbing.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Hold the plastic bottle with curved sides, shake it briefly.", + "Pick the yellow bottle with dark label up with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake it.", + "Hold and shake the the medium plastic bottle with cap carefully.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "With the left arm, pick the handheld curvy bottle and shake properly.", + "Using the left arm, shake the handheld curvy bottle and then place it back.", + "Pick the medium-sized bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Shake the the handheld curvy bottle properly after lifting.", + "Pick the medium plastic bottle with cap and perform shaking motion.", + "Use the left arm to pick and shake the yellow bottle with blue label.", + "Grab and shake the bottle for liquid using the left arm.", + "Shake the bottle with screw cap after holding it firmly.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Pick up the handheld curvy bottle and shake it well.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Grip the yellow bottle with blue label using the left arm and shake.", + "Lift the bottle for liquid with the left arm and shake.", + "Use the left arm to hold the plastic bottle with curved sides and shake it.", + "Grab the bottle for liquid with the left arm and shake.", + "Take the plastic bottle with curved sides using the left arm and give it a shake.", + "Hold the bottle for liquid steady, then shake it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Shake the bottle for liquid after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the plastic bottle with curved sides with the left arm and shake lightly.", + "Lift the yellow bottle with dark label and shake it gently.", + "Catch the yellow bottle and shake it instantly.", + "Hold the bottle with screw cap and shake it properly.", + "Lift the medium plastic bottle with cap and shake it thoroughly.", + "Shake the medium-sized bottle after grabbing it.", + "Grab the bottle for liquid and move it to shake.", + "Grab the plastic bottle with curved sides and give it a shake.", + "Grab the handheld curvy bottle carefully and shake.", + "Shake the yellow bottle for liquid storage after lifting it.", + "Grab the medium plastic bottle with cap and shake it steadily.", + "Use the left arm to grab the bottle with screw cap and shake properly.", + "Grasp the yellow bottle with dark label with the left arm and shake it.", + "Secure the bottle for liquid and perform a shake.", + "Pick up the bottle with screw cap and shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the yellow bottle with dark label firmly after grabbing.", + "Lift the yellow bottle for liquid storage with the left arm and shake it.", + "Hold the smooth plastic bottle, shake it briefly.", + "Pick the bottle for liquid up with the left arm and shake.", + "Use the left arm to grab the bottle with screw cap and shake it.", + "Hold and shake the the handheld curvy bottle carefully.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Utilize the left arm to hold the bottle for liquid and shake it.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Using the left arm, shake the medium plastic bottle with cap and then place it back.", + "Pick the handheld curvy bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Shake the the medium plastic bottle with cap properly after lifting.", + "Pick the bottle with screw cap and perform shaking motion.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Grab and shake the yellow bottle using the left arm.", + "Shake the yellow bottle with dark label after holding it firmly.", + "Shake the handheld curvy bottle after grabbing it.", + "Pick the plastic bottle with curved sides, shake it with the left arm.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Secure the bottle for liquid, shake it, and place it down.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Pick up the bottle with screw cap and shake it well.", + "Shake the yellow bottle with blue label thoroughly after grabbing it.", + "Grip the handheld curvy bottle using the left arm and shake.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Grab the handheld curvy bottle with the left arm and shake.", + "Take the handheld curvy bottle using the left arm and give it a shake.", + "Hold the bottle for liquid steady, then shake it.", + "Grab the bottle for liquid firmly, shake it, and put it down.", + "Lift up the yellow bottle with blue label using the left arm, then shake.", + "Shake the yellow bottle after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the medium plastic bottle with cap with the left arm and shake lightly.", + "Lift the yellow bottle with dark label and shake it gently." + ], + "unseen": [ + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode21.json b/shake_bottle/ur5_clean_50/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba9620a573c1c19beedd6a89c348c464639dfba --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the bottle with orange cap and shake it instantly.", + "Grab the bottle with ribbed orange bottom carefully and shake.", + "Grip the smooth plastic bottle using the left arm and shake.", + "Grab the smooth plastic bottle and give it a shake.", + "Use the left arm to lift and shake the yellow label bottle.", + "Shake the plastic bottle after grabbing it.", + "Hold the orange and white bottle with cap, shake it briefly.", + "Shake the smooth plastic bottle after grabbing it.", + "Grasp the orange bottle with the left arm and shake it.", + "Utilize the left arm to hold the white and orange plastic bottle and shake it.", + "Secure the medium bottle with orange lid and perform a shake.", + "Use the left arm to pick and shake the bottle with orange cap.", + "Lift the yellow label bottle with the left arm and shake.", + "Hold the medium orange bottle and shake it properly.", + "Pick up the plastic bottle and shake it well.", + "Lift up the white and orange plastic bottle using the left arm, then shake.", + "Shake the orange bottle firmly after grabbing.", + "Use the left arm to lift and shake the yellow label bottle.", + "Take the cylindrical orange and white bottle using the left arm and give it a shake.", + "Grab the orange and white bottle with cap with the left arm and shake.", + "Using the left arm, shake the drinking bottle with yellow label and then place it back.", + "Hold the medium bottle with orange lid with the left arm and shake lightly.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Lift the yellow label bottle and shake it thoroughly.", + "Pick up the medium orange bottle and shake it.", + "Shake the white and orange plastic bottle after lifting it.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Lift the yellow label bottle and shake it gently.", + "Use the left arm to grab the medium orange bottle and shake it.", + "Hold the white and orange plastic bottle steady, then shake it.", + "Pick the medium orange bottle and perform shaking motion.", + "With the left arm, pick the medium orange bottle and shake properly.", + "Use the left arm to grab the white and orange plastic bottle and shake properly.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "Shake the cylindrical orange and white bottle using the left arm after grabbing.", + "Grab the plastic bottle and move it to shake.", + "Lift the bottle with orange cap with the left arm and shake it.", + "Use the left arm to hold the bottle with ribbed orange bottom and shake it.", + "Hold and shake the the yellow label bottle carefully.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Pick the drinking bottle with yellow label up with the left arm and shake.", + "Pick the white and orange plastic bottle, shake it with the left arm.", + "Shake the the bottle with ribbed orange bottom properly after lifting.", + "Lift the medium orange bottle with the left arm and give it a shake.", + "Shake the medium orange bottle thoroughly after grabbing it.", + "Grab and shake the medium bottle with orange lid using the left arm.", + "Pick the orange and white bottle with cap up using the left arm and shake it.", + "Grab the medium orange bottle using the left arm, then shake.", + "Grab the drinking bottle with yellow label and shake it steadily.", + "Shake the plastic bottle after grabbing it.", + "Catch the orange and white bottle with cap and shake it instantly.", + "Grab the orange and white bottle with cap carefully and shake.", + "Grip the orange and white bottle with cap using the left arm and shake.", + "Grab the yellow label bottle and give it a shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Hold the yellow label bottle, shake it briefly.", + "Shake the medium bottle with orange lid after grabbing it.", + "Grasp the yellow label bottle with the left arm and shake it.", + "Utilize the left arm to hold the orange and white bottle with cap and shake it.", + "Secure the smooth plastic bottle and perform a shake.", + "Use the left arm to pick and shake the orange bottle.", + "Lift the medium bottle with orange lid with the left arm and shake.", + "Hold the bottle with ribbed orange bottom and shake it properly.", + "Pick up the plastic bottle and shake it well.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Shake the medium orange bottle firmly after grabbing.", + "Use the left arm to lift and shake the cylindrical orange and white bottle.", + "Take the orange and white bottle with cap using the left arm and give it a shake.", + "Grab the bottle with orange cap with the left arm and shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Hold the white and orange plastic bottle with the left arm and shake lightly.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Pick up the bottle with ribbed orange bottom and shake it.", + "Shake the medium orange bottle after lifting it.", + "Use the left arm to lift and shake the yellow label bottle.", + "Lift the bottle with orange cap and shake it gently.", + "Use the left arm to grab the smooth plastic bottle and shake it.", + "Hold the medium bottle with orange lid steady, then shake it.", + "Pick the smooth plastic bottle and perform shaking motion.", + "With the left arm, pick the yellow label bottle and shake properly.", + "Use the left arm to grab the drinking bottle with yellow label and shake properly.", + "Secure the bottle with orange cap, shake it, and place it down.", + "Shake the medium orange bottle using the left arm after grabbing.", + "Grab the bottle with ribbed orange bottom and move it to shake.", + "Lift the medium orange bottle with the left arm and shake it.", + "Use the left arm to hold the orange and white bottle with cap and shake it.", + "Hold and shake the the yellow label bottle carefully.", + "Grab the yellow label bottle firmly, shake it, and put it down.", + "Pick the yellow label bottle up with the left arm and shake.", + "Pick the bottle with ribbed orange bottom, shake it with the left arm.", + "Shake the the bottle with orange cap properly after lifting.", + "Lift the drinking bottle with yellow label with the left arm and give it a shake.", + "Shake the orange and white bottle with cap thoroughly after grabbing it.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Pick the white and orange plastic bottle up using the left arm and shake it.", + "Grab the orange and white bottle with cap using the left arm, then shake.", + "Grab the bottle with orange cap and shake it steadily.", + "Shake the bottle with ribbed orange bottom after grabbing it." + ], + "unseen": [ + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode22.json b/shake_bottle/ur5_clean_50/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac74d43a66f97a9715c13da486a5c4e0426cc1e --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with narrow top.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Pick up the medium green bottle with capped neck and shake it.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Pick the handheld green bottle and perform shaking motion.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Use the left arm to lift and shake the medium green bottle.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Shake the bottle with rounded neck after lifting it.", + "Pick the plastic bottle, shake it with the left arm.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Grab the plastic bottle with the left arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Grip the green bottle with indented base using the left arm and shake.", + "Grab the bottle with narrow top and give it a shake.", + "Secure the green bottle with indented base and perform a shake.", + "Hold the handheld green bottle, shake it briefly.", + "Grab and shake the green bottle with indented base using the left arm.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Hold and shake the the bottle with narrow top carefully.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Shake the green bottle with indented base after holding it firmly.", + "Hold the bottle with narrow top steady, then shake it.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Shake the plastic bottle after grabbing it.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Grab the handheld green bottle and shake it steadily.", + "Pick up the smooth green plastic bottle and shake it well.", + "Lift the smooth green plastic bottle and shake it gently.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the medium green bottle after grabbing it.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Shake the the bottle with narrow top properly after lifting.", + "Use the left arm to lift and shake the medium green bottle.", + "Lift the smooth green bottle with the left arm and shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Pick up the bottle with rounded neck and shake it.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift the handheld green bottle with the left arm and shake it.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Lift the smooth green bottle and shake it thoroughly.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Shake the bottle with white printed label firmly after grabbing.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Use the left arm to lift and shake the plastic bottle.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Grab the handheld green bottle using the left arm, then shake.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Shake the green bottle with indented base after lifting it.", + "Pick the smooth green bottle, shake it with the left arm.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Grab the bottle with narrow top with the left arm and shake.", + "Grab the bottle with rounded neck carefully and shake.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Grab the bottle with narrow top and move it to shake.", + "Grip the green bottle with indented base using the left arm and shake.", + "Grab the green bottle with indented base and give it a shake.", + "Secure the green bottle with indented base and perform a shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grab and shake the green bottle with indented base using the left arm.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Hold and shake the the smooth green plastic bottle carefully.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Shake the medium-sized green bottle after holding it firmly.", + "Hold the medium green bottle steady, then shake it.", + "Hold the handheld green bottle and shake it properly.", + "Shake the bottle with narrow top after grabbing it.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Grab the bottle with white printed label and shake it steadily.", + "Pick up the smooth green bottle and shake it well.", + "Lift the handheld green bottle and shake it gently.", + "Use the left arm to lift and shake the smooth green bottle.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the the bottle with ridges near base properly after lifting." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode23.json b/shake_bottle/ur5_clean_50/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..ef0ede69f03cc29aff62a4b84f6a99493b8e9287 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the bottle for holding drinks with the right arm and shake it.", + "Lift the orange bottle with the right arm and shake.", + "Use the right arm to lift and shake the light and medium-sized bottle.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Pick the grooved orange drink bottle, shake it with the right arm.", + "Use the right arm to grab the medium bottle with colorful label and shake it.", + "Shake the bottle for holding drinks using the right arm after grabbing.", + "Pick up the smooth orange bottle and shake it well.", + "Use the right arm to pick and shake the light and medium-sized bottle.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Lift the orange bottle with the right arm and give it a shake.", + "Grab the light and medium-sized bottle with the right arm and shake.", + "Shake the the plastic bottle properly after lifting.", + "Grab the round-bottom bottle with white cap and move it to shake.", + "Secure the medium bottle with colorful label and perform a shake.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Hold the round-bottom bottle with white cap, shake it briefly.", + "Pick the plastic bottle up with the right arm and shake.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Lift up the orange drink bottle with label using the right arm, then shake.", + "Pick the round-bottom bottle with white cap up using the right arm and shake it.", + "Grab and shake the round-bottom bottle with white cap using the right arm.", + "Hold and shake the the curved orange soda bottle carefully.", + "Shake the light and medium-sized bottle after lifting it.", + "Hold the grooved orange drink bottle with the right arm and shake lightly.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Shake the orange drink bottle with label after holding it firmly.", + "Using the right arm, shake the bottle for holding drinks and then place it back.", + "Take the round-bottom bottle with white cap using the right arm and give it a shake.", + "Use the right arm to grab the orange bottle and shake properly.", + "Hold the light and medium-sized bottle and shake it properly.", + "Use the right arm to hold the round-bottom bottle with white cap and shake it.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Secure the round-bottom bottle with white cap, shake it, and place it down.", + "Grab the cylindrical orange plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Lift the medium bottle with colorful label with the right arm and shake it.", + "Grip the medium bottle with colorful label using the right arm and shake.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Utilize the right arm to hold the grooved orange drink bottle and shake it.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Shake the smooth orange bottle thoroughly after grabbing it.", + "Pick up the orange drink bottle with label and shake it.", + "Shake the plastic bottle after grabbing it.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Grasp the bottle for holding drinks with the right arm and shake it.", + "Lift the orange drink bottle with label with the right arm and shake.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Pick the medium bottle with colorful label, shake it with the right arm.", + "Use the right arm to grab the orange drink bottle with label and shake it.", + "Shake the curved orange soda bottle using the right arm after grabbing.", + "Pick up the ridged orange bottle with grooves and shake it well.", + "Use the right arm to pick and shake the orange bottle.", + "Grab the grooved orange drink bottle and give it a shake.", + "Lift the orange drink bottle with label with the right arm and give it a shake.", + "Grab the ridged orange bottle with grooves with the right arm and shake.", + "Shake the the orange bottle properly after lifting.", + "Grab the round-bottom bottle with white cap and move it to shake.", + "Secure the grooved orange drink bottle and perform a shake.", + "Pick the curved orange soda bottle and perform shaking motion.", + "Hold the round-bottom bottle with white cap, shake it briefly.", + "Pick the medium bottle with colorful label up with the right arm and shake.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Lift up the medium bottle with colorful label using the right arm, then shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab and shake the round-bottom bottle with white cap using the right arm.", + "Hold and shake the the orange drink bottle with label carefully.", + "Shake the grooved orange drink bottle after lifting it.", + "Hold the round-bottom bottle with white cap with the right arm and shake lightly.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Grab the ridged orange bottle with grooves carefully and shake.", + "Shake the cylindrical orange plastic bottle after holding it firmly.", + "Using the right arm, shake the orange bottle and then place it back.", + "Take the plastic bottle using the right arm and give it a shake.", + "Use the right arm to grab the light and medium-sized bottle and shake properly.", + "Hold the ridged orange bottle with grooves and shake it properly.", + "Use the right arm to hold the curved orange soda bottle and shake it.", + "Hold the round-bottom bottle with white cap steady, then shake it.", + "Secure the orange bottle, shake it, and place it down.", + "Grab the orange bottle using the right arm, then shake.", + "Use the right arm to lift and shake the orange bottle.", + "Lift the round-bottom bottle with white cap with the right arm and shake it.", + "Grip the smooth orange bottle using the right arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift the cylindrical orange plastic bottle and shake it gently.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "With the right arm, pick the cylindrical orange plastic bottle and shake properly.", + "Shake the curved orange soda bottle after grabbing it.", + "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Shake the ridged orange bottle with grooves thoroughly after grabbing it.", + "Pick up the medium bottle with colorful label and shake it.", + "Shake the medium bottle with colorful label after grabbing it.", + "Lift the orange bottle and shake it thoroughly." + ], + "unseen": [ + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Use the right arm to pick the bottle with white cap.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Use the right arm to pick the bottle with white cap.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode24.json b/shake_bottle/ur5_clean_50/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..09facbac181c0f8d40b705222d4e20da61d63ccc --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow label bottle with the right arm and shake.", + "Grab the medium orange bottle using the right arm, then shake.", + "Pick up the drinking bottle with yellow label and shake it well.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Catch the medium orange bottle and shake it instantly.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Shake the the plastic bottle properly after lifting.", + "Hold the yellow label bottle and shake it properly.", + "Use the right arm to hold the yellow label bottle and shake it.", + "Grab the orange bottle with the right arm and shake.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Grab and shake the medium orange bottle using the right arm.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Lift the yellow label bottle and shake it thoroughly.", + "With the right arm, pick the orange and white bottle with cap and shake properly.", + "Pick the white and orange plastic bottle, shake it with the right arm.", + "Hold and shake the the white and orange plastic bottle carefully.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Pick the bottle with ribbed orange bottom up with the right arm and shake.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Lift up the yellow label bottle using the right arm, then shake.", + "Use the right arm to lift and shake the orange bottle.", + "Hold the white and orange plastic bottle with the right arm and shake lightly.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Take the orange bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Grab the drinking bottle with yellow label firmly, shake it, and put it down.", + "Shake the white and orange plastic bottle after grabbing it.", + "Grab the bottle with ribbed orange bottom carefully and shake.", + "Lift the orange bottle with the right arm and give it a shake.", + "Grip the orange and white bottle with cap using the right arm and shake.", + "Grab the white and orange plastic bottle and shake it steadily.", + "Using the right arm, shake the cylindrical orange and white bottle and then place it back.", + "Lift the yellow label bottle with the right arm and shake it.", + "Shake the cylindrical orange and white bottle thoroughly after grabbing it.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Use the right arm to pick and shake the yellow label bottle.", + "Use the right arm to lift and shake the white and orange plastic bottle.", + "Shake the bottle with ribbed orange bottom firmly after grabbing.", + "Secure the drinking bottle with yellow label, shake it, and place it down.", + "Use the right arm to grab the white and orange plastic bottle and shake it.", + "Shake the medium bottle with orange lid using the right arm after grabbing.", + "Lift the cylindrical orange and white bottle and shake it gently.", + "Grab the smooth plastic bottle and give it a shake.", + "Pick up the medium bottle with orange lid and shake it.", + "Hold the bottle with orange cap, shake it briefly.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Shake the bottle with orange cap after lifting it.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Use the right arm to lift and shake the medium orange bottle.", + "Lift the plastic bottle with the right arm and shake.", + "Grab the orange and white bottle with cap using the right arm, then shake.", + "Pick up the cylindrical orange and white bottle and shake it well.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Use the right arm to grab the drinking bottle with yellow label and shake properly.", + "Shake the the bottle with orange cap properly after lifting.", + "Hold the medium orange bottle and shake it properly.", + "Use the right arm to hold the bottle with ribbed orange bottom and shake it.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Hold the medium bottle with orange lid steady, then shake it.", + "Grab and shake the drinking bottle with yellow label using the right arm.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Lift the drinking bottle with yellow label and shake it thoroughly.", + "With the right arm, pick the orange bottle and shake properly.", + "Pick the orange and white bottle with cap, shake it with the right arm.", + "Hold and shake the the plastic bottle carefully.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Pick the bottle with ribbed orange bottom up with the right arm and shake.", + "Pick the medium bottle with orange lid up using the right arm and shake it.", + "Lift up the cylindrical orange and white bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with ribbed orange bottom.", + "Hold the medium orange bottle with the right arm and shake lightly.", + "Grasp the medium bottle with orange lid with the right arm and shake it.", + "Take the plastic bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the bottle with orange cap and shake it.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Shake the white and orange plastic bottle after grabbing it.", + "Grab the medium orange bottle carefully and shake.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Grip the bottle with ribbed orange bottom using the right arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Using the right arm, shake the orange bottle and then place it back.", + "Lift the medium bottle with orange lid with the right arm and shake it.", + "Shake the medium bottle with orange lid thoroughly after grabbing it.", + "Secure the orange bottle and perform a shake.", + "Use the right arm to pick and shake the white and orange plastic bottle.", + "Use the right arm to lift and shake the orange bottle.", + "Shake the orange and white bottle with cap firmly after grabbing.", + "Secure the cylindrical orange and white bottle, shake it, and place it down.", + "Use the right arm to grab the plastic bottle and shake it.", + "Shake the drinking bottle with yellow label using the right arm after grabbing.", + "Lift the white and orange plastic bottle and shake it gently.", + "Grab the medium orange bottle and give it a shake.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Hold the bottle with orange cap, shake it briefly.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the plastic bottle after lifting it.", + "Shake the yellow label bottle after grabbing it.", + "Use the right arm to lift and shake the medium bottle with orange lid." + ], + "unseen": [ + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode25.json b/shake_bottle/ur5_clean_50/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..b6cddf577226791dc2a969414e742bcf99fc7d60 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bottle for liquids and shake it well.", + "Lift the blue bottle with label and shake it thoroughly.", + "Hold the plastic bottle steady, then shake it.", + "Using the left arm, shake the blue bottle with label and then place it back.", + "Grab the white and blue bottle with the left arm and shake.", + "Use the left arm to lift and shake the blue bottle with label.", + "Grab the medium-sized bottle and move it to shake.", + "Grab the white bottle with blue accents and give it a shake.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Pick up the medium-sized bottle and shake it.", + "Lift the bottle with blue cap with the left arm and give it a shake.", + "Use the left arm to grab the medium-sized bottle and shake it.", + "Hold and shake the the plastic bottle carefully.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Lift up the cylindrical bottle using the left arm, then shake.", + "Grab and shake the white bottle with blue accents using the left arm.", + "Catch the bottle for liquids and shake it instantly.", + "Hold the plastic bottle and shake it properly.", + "Grab the bottle with blue cap using the left arm, then shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the blue bottle with label firmly after grabbing.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Shake the blue bottle with label after grabbing it.", + "Use the left arm to lift and shake the blue bottle.", + "Pick the medium-sized bottle up using the left arm and shake it.", + "Shake the blue bottle after holding it firmly.", + "Pick the medium bottle for beverages up with the left arm and shake.", + "Hold the bottle for liquids, shake it briefly.", + "Grab the white and blue bottle carefully and shake.", + "Lift the cylindrical bottle and shake it gently.", + "Grab the bottle with blue cap and shake it steadily.", + "Lift the cylindrical bottle with the left arm and shake it.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "Shake the the blue bottle properly after lifting.", + "Pick the handheld bottle and perform shaking motion.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the bottle for liquids.", + "Use the left arm to grab the handheld bottle and shake properly.", + "Lift the medium-sized bottle with the left arm and shake.", + "Grasp the white and blue bottle with the left arm and shake it.", + "Shake the white bottle with blue accents after lifting it.", + "Use the left arm to hold the cylindrical bottle and shake it.", + "Grip the medium-sized bottle using the left arm and shake.", + "Pick the medium bottle for beverages, shake it with the left arm.", + "Secure the cylindrical bottle, shake it, and place it down.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Shake the bottle for liquids after grabbing it.", + "Secure the blue bottle with label and perform a shake.", + "Use the left arm to lift and shake the blue bottle.", + "Pick up the blue bottle and shake it well.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Hold the blue bottle with label steady, then shake it.", + "Using the left arm, shake the bottle with blue cap and then place it back.", + "Grab the medium bottle for beverages with the left arm and shake.", + "Use the left arm to lift and shake the handheld bottle.", + "Grab the handheld bottle and move it to shake.", + "Grab the medium-sized bottle and give it a shake.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Pick up the blue bottle and shake it.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Hold and shake the the medium-sized bottle carefully.", + "With the left arm, pick the white and blue bottle and shake properly.", + "Lift up the white bottle with blue accents using the left arm, then shake.", + "Grab and shake the cylindrical bottle using the left arm.", + "Catch the white and blue bottle and shake it instantly.", + "Hold the medium-sized bottle and shake it properly.", + "Grab the handheld bottle using the left arm, then shake.", + "Take the medium-sized bottle using the left arm and give it a shake.", + "Shake the medium-sized bottle firmly after grabbing.", + "Hold the bottle with blue cap with the left arm and shake lightly.", + "Shake the blue bottle with label after grabbing it.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Shake the blue bottle with label after holding it firmly.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Hold the medium bottle for beverages, shake it briefly.", + "Grab the medium-sized bottle carefully and shake.", + "Lift the white bottle with blue accents and shake it gently.", + "Grab the bottle with blue cap and shake it steadily.", + "Lift the plastic bottle with the left arm and shake it.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "Shake the the blue bottle with label properly after lifting.", + "Pick the blue bottle with label and perform shaking motion.", + "Shake the blue bottle with label after grabbing it.", + "Shake the white bottle with blue accents thoroughly after grabbing it.", + "Use the left arm to pick and shake the blue bottle with label.", + "Use the left arm to grab the bottle with blue cap and shake properly.", + "Lift the handheld bottle with the left arm and shake.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Shake the medium bottle for beverages after lifting it.", + "Use the left arm to hold the handheld bottle and shake it.", + "Grip the blue bottle using the left arm and shake.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Shake the bottle with blue cap after grabbing it.", + "Secure the smooth plastic bottle and perform a shake.", + "Use the left arm to lift and shake the bottle for liquids." + ], + "unseen": [ + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode26.json b/shake_bottle/ur5_clean_50/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..e9483c36efc58030f0ed494b7627f7da8f072005 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the medium bottle with orange lid and shake it.", + "Grab the bottle with orange cap and shake it steadily.", + "Secure the yellow label bottle, shake it, and place it down.", + "With the right arm, pick the bottle with orange cap and shake properly.", + "Take the plastic bottle using the right arm and give it a shake.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Shake the medium orange bottle using the right arm after grabbing.", + "Grab the bottle with orange cap and move it to shake.", + "Pick up the white and orange plastic bottle and shake it.", + "Grasp the orange and white bottle with cap with the right arm and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the cylindrical orange and white bottle and shake it gently.", + "Shake the bottle with orange cap thoroughly after grabbing it.", + "Lift up the white and orange plastic bottle using the right arm, then shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Using the right arm, shake the orange bottle and then place it back.", + "Grab and shake the drinking bottle with yellow label using the right arm.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the drinking bottle with yellow label.", + "Grab the drinking bottle with yellow label carefully and shake.", + "Grab the orange bottle and give it a shake.", + "Grab the orange bottle using the right arm, then shake.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Pick the yellow label bottle up with the right arm and shake.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Hold the yellow label bottle with the right arm and shake lightly.", + "Pick the drinking bottle with yellow label, shake it with the right arm.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Lift the medium orange bottle and shake it thoroughly.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Secure the medium bottle with orange lid and perform a shake.", + "Use the right arm to grab the bottle with ribbed orange bottom and shake it.", + "Grip the drinking bottle with yellow label using the right arm and shake.", + "Shake the white and orange plastic bottle after grabbing it.", + "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.", + "Pick up the orange and white bottle with cap and shake it well.", + "Use the right arm to lift and shake the bottle with ribbed orange bottom.", + "Hold the orange bottle, shake it briefly.", + "Pick the orange and white bottle with cap and perform shaking motion.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Utilize the right arm to hold the medium orange bottle and shake it.", + "Hold the cylindrical orange and white bottle steady, then shake it.", + "Grab the drinking bottle with yellow label with the right arm and shake.", + "Hold the drinking bottle with yellow label and shake it properly.", + "Lift the cylindrical orange and white bottle with the right arm and shake.", + "Use the right arm to hold the orange and white bottle with cap and shake it.", + "Grab the medium bottle with orange lid and shake it steadily.", + "Secure the yellow label bottle, shake it, and place it down.", + "With the right arm, pick the medium orange bottle and shake properly.", + "Take the medium bottle with orange lid using the right arm and give it a shake.", + "Hold and shake the the medium orange bottle carefully.", + "Shake the cylindrical orange and white bottle using the right arm after grabbing.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Pick up the white and orange plastic bottle and shake it.", + "Grasp the bottle with ribbed orange bottom with the right arm and shake it.", + "Shake the drinking bottle with yellow label firmly after grabbing.", + "Lift the orange and white bottle with cap and shake it gently.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Lift up the medium bottle with orange lid using the right arm, then shake.", + "Shake the the medium bottle with orange lid properly after lifting.", + "Shake the medium orange bottle after lifting it.", + "Using the right arm, shake the smooth plastic bottle and then place it back.", + "Grab and shake the drinking bottle with yellow label using the right arm.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Catch the bottle with orange cap and shake it instantly.", + "Pick the medium bottle with orange lid up using the right arm and shake it.", + "Grab the orange and white bottle with cap firmly, shake it, and put it down.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Grab the medium orange bottle carefully and shake.", + "Grab the orange and white bottle with cap and give it a shake.", + "Grab the orange bottle using the right arm, then shake.", + "Use the right arm to grab the yellow label bottle and shake properly.", + "Pick the white and orange plastic bottle up with the right arm and shake.", + "Use the right arm to pick and shake the bottle with ribbed orange bottom.", + "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.", + "Pick the medium orange bottle, shake it with the right arm.", + "Shake the bottle with orange cap after holding it firmly.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Use the right arm to grab the medium orange bottle and shake it.", + "Grip the medium orange bottle using the right arm and shake.", + "Shake the orange bottle after grabbing it.", + "Lift the drinking bottle with yellow label with the right arm and give it a shake.", + "Pick up the cylindrical orange and white bottle and shake it well.", + "Use the right arm to lift and shake the cylindrical orange and white bottle.", + "Hold the smooth plastic bottle, shake it briefly.", + "Pick the white and orange plastic bottle and perform shaking motion.", + "Use the right arm to lift and shake the medium orange bottle.", + "Shake the white and orange plastic bottle after grabbing it.", + "Utilize the right arm to hold the cylindrical orange and white bottle and shake it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Grab the medium bottle with orange lid with the right arm and shake.", + "Hold the orange and white bottle with cap and shake it properly.", + "Lift the medium bottle with orange lid with the right arm and shake." + ], + "unseen": [ + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode27.json b/shake_bottle/ur5_clean_50/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..b4d935813780e0a13264a4cac70b97196f022f24 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with green and white labels and shake it properly.", + "Shake the yellow bottle after lifting it.", + "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Shake the bottle with green label after grabbing it.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Utilize the left arm to hold the bottle with green label and shake it.", + "Lift the bottle with green and white labels with the left arm and give it a shake.", + "Shake the bottle with white cap firmly after grabbing.", + "Use the left arm to lift and shake the bottle with green label.", + "Shake the bottle with a smooth plastic body after holding it firmly.", + "Grab the bottle with green and white labels and shake it steadily.", + "Using the left arm, shake the smooth bottle with rounded edges and then place it back.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Shake the the bottle with white cap properly after lifting.", + "Grip the rectangular bottle with cylindrical neck using the left arm and shake.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Hold and shake the the medium rectangular yellow bottle carefully.", + "Use the left arm to lift and shake the bottle with green label.", + "Secure the yellow bottle and perform a shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Pick up the smooth bottle with rounded edges and shake it.", + "Shake the yellow plastic bottle with white top using the left arm after grabbing.", + "Secure the bottle with white cap, shake it, and place it down.", + "Lift the yellow bottle and shake it gently.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Use the left arm to grab the smooth bottle with rounded edges and shake it.", + "Lift the smooth bottle with rounded edges with the left arm and shake it.", + "Use the left arm to hold the bottle with green and white labels and shake it.", + "Lift the yellow bottle with the left arm and shake.", + "Take the medium rectangular yellow bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Use the left arm to pick and shake the smooth bottle with rounded edges.", + "Pick the bottle with green label and perform shaking motion.", + "Lift up the bottle with a smooth plastic body using the left arm, then shake.", + "Pick up the bottle with green and white labels and shake it well.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Hold the plastic bottle steady, then shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab and shake the plastic bottle using the left arm.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Grab the bottle with white cap and give it a shake.", + "Pick the bottle with green and white labels up with the left arm and shake.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Grab the plastic bottle and move it to shake.", + "Grab the yellow bottle using the left arm, then shake.", + "Use the left arm to grab the yellow plastic bottle with white top and shake properly.", + "Hold the yellow bottle and shake it properly.", + "Shake the yellow container with rounded edges after lifting it.", + "Grasp the yellow bottle with the left arm and shake it.", + "Hold the smooth bottle with rounded edges with the left arm and shake lightly.", + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Lift the yellow bottle with a green design with the left arm and give it a shake.", + "Shake the plastic bottle firmly after grabbing.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Shake the bottle with green label after holding it firmly.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Hold the bottle with white cap, shake it briefly.", + "Shake the the plastic bottle properly after lifting.", + "Grip the plastic bottle using the left arm and shake.", + "Pick the smooth bottle with rounded edges, shake it with the left arm.", + "Hold and shake the the yellow bottle carefully.", + "Use the left arm to lift and shake the bottle with white cap.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Shake the bottle with green label after grabbing it.", + "Pick up the bottle with green label and shake it.", + "Shake the yellow bottle using the left arm after grabbing.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Use the left arm to grab the bottle with green label and shake it.", + "Lift the bottle with white cap with the left arm and shake it.", + "Use the left arm to hold the yellow bottle with a green design and shake it.", + "Lift the medium rectangular yellow bottle with the left arm and shake.", + "Take the yellow container with rounded edges using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Grab the bottle with a smooth plastic body with the left arm and shake.", + "With the left arm, pick the smooth bottle with rounded edges and shake properly.", + "Use the left arm to pick and shake the plastic bottle.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Pick up the yellow bottle and shake it well.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Hold the yellow plastic bottle with white top steady, then shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab and shake the rectangular bottle with cylindrical neck using the left arm.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Grab the yellow bottle and move it to shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Use the left arm to grab the yellow bottle and shake properly." + ], + "unseen": [ + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode28.json b/shake_bottle/ur5_clean_50/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..55dba2a4d79c7f71706535cca3b9873db0b9b79e --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow capped drink bottle and shake it gently.", + "Grab the black cylindrical bottle with ridges and move it to shake.", + "Grab the black cylindrical bottle with ridges with the left arm and shake.", + "Shake the medium black bottle with printed label after grabbing it.", + "Lift the bottle with blue and yellow print with the left arm and give it a shake.", + "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.", + "Secure the medium black bottle with printed label, shake it, and place it down.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Pick the yellow-capped cylindrical bottle, shake it with the left arm.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Pick up the yellow-capped cylindrical bottle and shake it.", + "Lift up the beverage bottle with black body using the left arm, then shake.", + "Shake the plastic bottle with colorful label after holding it firmly.", + "Grip the drink bottle with rounded yellow lid using the left arm and shake.", + "Use the left arm to grab the medium black bottle with printed label and shake properly.", + "Utilize the left arm to hold the smooth black bottle with ridges and shake it.", + "Hold the plastic bottle with colorful label steady, then shake it.", + "Shake the yellow-capped cylindrical bottle firmly after grabbing.", + "Grab the medium bottle with yellow cap and shake it steadily.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Grab and shake the medium black bottle with printed label using the left arm.", + "Secure the bottle with blue and yellow print and perform a shake.", + "Use the left arm to lift and shake the black cylindrical bottle with ridges.", + "Using the left arm, shake the beverage bottle with black body and then place it back.", + "Lift the medium bottle with yellow cap with the left arm and shake it.", + "Hold the black cylindrical bottle with ridges, shake it briefly.", + "Shake the medium bottle with yellow cap using the left arm after grabbing.", + "Take the black cylindrical bottle with ridges using the left arm and give it a shake.", + "Grab the drink bottle with rounded yellow lid using the left arm, then shake.", + "Pick up the smooth black bottle with ridges and shake it well.", + "Hold the medium bottle with yellow cap and shake it properly.", + "Catch the beverage bottle with black body and shake it instantly.", + "Grab the black bottle firmly, shake it, and put it down.", + "Use the left arm to pick and shake the yellow-capped cylindrical bottle.", + "Shake the yellow capped drink bottle after grabbing it.", + "Pick the smooth black bottle with ridges up with the left arm and shake.", + "Use the left arm to grab the bottle with blue and yellow print and shake it.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Shake the the yellow capped drink bottle properly after lifting.", + "With the left arm, pick the medium bottle with yellow cap and shake properly.", + "Shake the yellow-capped cylindrical bottle after lifting it.", + "Hold and shake the the yellow capped drink bottle carefully.", + "Use the left arm to hold the black bottle and shake it.", + "Grasp the yellow capped drink bottle with the left arm and shake it.", + "Grab the yellow capped drink bottle and give it a shake.", + "Pick the black bottle up using the left arm and shake it.", + "Lift the smooth black bottle with ridges and shake it thoroughly.", + "Hold the black bottle with the left arm and shake lightly.", + "Lift the bottle with blue and yellow print with the left arm and shake.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Grab the beverage bottle with black body and move it to shake.", + "Grab the smooth black bottle with ridges with the left arm and shake.", + "Shake the black bottle after grabbing it.", + "Lift the medium bottle with yellow cap with the left arm and give it a shake.", + "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.", + "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Grab the yellow-capped cylindrical bottle carefully and shake.", + "Pick the plastic bottle with colorful label, shake it with the left arm.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Pick up the black cylindrical bottle with ridges and shake it.", + "Lift up the plastic bottle with colorful label using the left arm, then shake.", + "Shake the bottle with blue and yellow print after holding it firmly.", + "Grip the black bottle using the left arm and shake.", + "Use the left arm to grab the bottle with blue and yellow print and shake properly.", + "Utilize the left arm to hold the black bottle and shake it.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Shake the medium bottle with yellow cap firmly after grabbing.", + "Grab the plastic bottle with colorful label and shake it steadily.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Grab and shake the drink bottle with rounded yellow lid using the left arm.", + "Secure the black bottle and perform a shake.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Using the left arm, shake the black bottle and then place it back.", + "Lift the yellow capped drink bottle with the left arm and shake it.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Shake the black plastic bottle with Pepsi logo using the left arm after grabbing.", + "Take the black cylindrical bottle with ridges using the left arm and give it a shake.", + "Grab the bottle with blue and yellow print using the left arm, then shake.", + "Pick up the medium black bottle with printed label and shake it well.", + "Hold the medium black bottle with printed label and shake it properly.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Grab the black plastic bottle with Pepsi logo firmly, shake it, and put it down.", + "Use the left arm to pick and shake the yellow-capped cylindrical bottle.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Pick the bottle with blue and yellow print up with the left arm and shake.", + "Use the left arm to grab the beverage bottle with black body and shake it.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Shake the the black cylindrical bottle with ridges properly after lifting.", + "With the left arm, pick the black bottle and shake properly.", + "Shake the black bottle after lifting it.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Use the left arm to hold the medium bottle with yellow cap and shake it.", + "Grasp the yellow capped drink bottle with the left arm and shake it.", + "Grab the black cylindrical bottle with ridges and give it a shake.", + "Pick the medium bottle with yellow cap up using the left arm and shake it.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Hold the beverage bottle with black body with the left arm and shake lightly.", + "Lift the medium black bottle with printed label with the left arm and shake." + ], + "unseen": [ + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode29.json b/shake_bottle/ur5_clean_50/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..3d79e9459b8589862806a301c4f3affa3f75ae34 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the black plastic bottle with Pepsi logo.", + "Hold the plastic bottle with colorful label with the left arm and shake lightly.", + "Grab and shake the beverage bottle with black body using the left arm.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Use the left arm to lift and shake the black cylindrical bottle with ridges.", + "Shake the yellow-capped cylindrical bottle using the left arm after grabbing.", + "Grab the drink bottle with rounded yellow lid using the left arm, then shake.", + "Pick up the medium bottle with yellow cap and shake it well.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Pick the beverage bottle with black body up using the left arm and shake it.", + "Use the left arm to grab the plastic bottle with colorful label and shake properly.", + "Use the left arm to lift and shake the beverage bottle with black body.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Pick the medium black bottle with printed label and perform shaking motion.", + "Take the drink bottle with rounded yellow lid using the left arm and give it a shake.", + "Shake the black bottle after grabbing it.", + "Secure the black bottle and perform a shake.", + "Utilize the left arm to hold the medium black bottle with printed label and shake it.", + "Grab the smooth black bottle with ridges firmly, shake it, and put it down.", + "Grip the drink bottle with rounded yellow lid using the left arm and shake.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Shake the black plastic bottle with Pepsi logo after lifting it.", + "With the left arm, pick the smooth black bottle with ridges and shake properly.", + "Grasp the black bottle with the left arm and shake it.", + "Hold the medium black bottle with printed label, shake it briefly.", + "Lift the smooth black bottle with ridges with the left arm and shake it.", + "Grab the yellow-capped cylindrical bottle with the left arm and shake.", + "Pick up the medium black bottle with printed label and shake it.", + "Use the left arm to hold the drink bottle with rounded yellow lid and shake it.", + "Lift the medium black bottle with printed label and shake it thoroughly.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Pick the medium black bottle with printed label up with the left arm and shake.", + "Grab the plastic bottle with colorful label carefully and shake.", + "Shake the black cylindrical bottle with ridges after holding it firmly.", + "Secure the bottle with blue and yellow print, shake it, and place it down.", + "Catch the black plastic bottle with Pepsi logo and shake it instantly.", + "Lift the medium black bottle with printed label with the left arm and give it a shake.", + "Shake the the black cylindrical bottle with ridges properly after lifting.", + "Using the left arm, shake the black plastic bottle with Pepsi logo and then place it back.", + "Use the left arm to grab the drink bottle with rounded yellow lid and shake it.", + "Lift the black bottle and shake it gently.", + "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.", + "Grab the medium bottle with yellow cap and shake it steadily.", + "Grab the black cylindrical bottle with ridges and give it a shake.", + "Lift up the bottle with blue and yellow print using the left arm, then shake.", + "Grab the yellow-capped cylindrical bottle and move it to shake.", + "Hold the medium black bottle with printed label steady, then shake it.", + "Lift the medium black bottle with printed label with the left arm and shake.", + "Pick the medium black bottle with printed label, shake it with the left arm.", + "Hold the plastic bottle with colorful label and shake it properly.", + "Use the left arm to pick and shake the drink bottle with rounded yellow lid.", + "Hold the black cylindrical bottle with ridges with the left arm and shake lightly.", + "Grab and shake the yellow capped drink bottle using the left arm.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Shake the beverage bottle with black body using the left arm after grabbing.", + "Grab the beverage bottle with black body using the left arm, then shake.", + "Pick up the yellow-capped cylindrical bottle and shake it well.", + "Hold and shake the the black plastic bottle with Pepsi logo carefully.", + "Pick the drink bottle with rounded yellow lid up using the left arm and shake it.", + "Use the left arm to grab the black plastic bottle with Pepsi logo and shake properly.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Take the bottle with blue and yellow print using the left arm and give it a shake.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Secure the medium bottle with yellow cap and perform a shake.", + "Utilize the left arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.", + "Grip the beverage bottle with black body using the left arm and shake.", + "Shake the yellow capped drink bottle after grabbing it.", + "Shake the black bottle after lifting it.", + "With the left arm, pick the medium black bottle with printed label and shake properly.", + "Grasp the smooth black bottle with ridges with the left arm and shake it.", + "Hold the plastic bottle with colorful label, shake it briefly.", + "Lift the drink bottle with rounded yellow lid with the left arm and shake it.", + "Grab the yellow capped drink bottle with the left arm and shake.", + "Pick up the black bottle and shake it.", + "Use the left arm to hold the yellow capped drink bottle and shake it.", + "Lift the yellow capped drink bottle and shake it thoroughly.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Pick the bottle with blue and yellow print up with the left arm and shake.", + "Grab the black plastic bottle with Pepsi logo carefully and shake.", + "Shake the drink bottle with rounded yellow lid after holding it firmly.", + "Secure the black cylindrical bottle with ridges, shake it, and place it down.", + "Catch the yellow capped drink bottle and shake it instantly.", + "Lift the medium black bottle with printed label with the left arm and give it a shake.", + "Shake the the beverage bottle with black body properly after lifting.", + "Using the left arm, shake the beverage bottle with black body and then place it back.", + "Use the left arm to grab the bottle with blue and yellow print and shake it.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Shake the beverage bottle with black body thoroughly after grabbing it.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Lift up the black plastic bottle with Pepsi logo using the left arm, then shake.", + "Grab the medium bottle with yellow cap and move it to shake.", + "Hold the medium bottle with yellow cap steady, then shake it.", + "Lift the black bottle with the left arm and shake.", + "Pick the yellow-capped cylindrical bottle, shake it with the left arm.", + "Hold the black plastic bottle with Pepsi logo and shake it properly." + ], + "unseen": [ + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the bottle with ridges near base after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode3.json b/shake_bottle/ur5_clean_50/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..2b6972138cf2abb8334081ee7823c857e80a3a5c --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Lift the yellow bottle with a green design with the left arm and give it a shake.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Lift up the bottle with a smooth plastic body using the left arm, then shake.", + "Pick up the plastic bottle and shake it well.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Pick up the yellow plastic bottle with white top and shake it.", + "Hold the bottle with a smooth plastic body and shake it properly.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Use the left arm to hold the medium rectangular yellow bottle and shake it.", + "Grip the bottle with a smooth plastic body using the left arm and shake.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Lift the yellow plastic bottle with white top with the left arm and shake.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Lift the medium rectangular yellow bottle with the left arm and shake it.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the the bottle with green and white labels properly after lifting.", + "Secure the yellow container with rounded edges and perform a shake.", + "Shake the bottle with white cap after holding it firmly.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Hold the yellow bottle with a green design with the left arm and shake lightly.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Pick the medium rectangular yellow bottle up using the left arm and shake it.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "With the left arm, pick the yellow bottle and shake properly.", + "Take the yellow bottle with a green design using the left arm and give it a shake.", + "Use the left arm to grab the bottle with green label and shake it.", + "Grab and shake the smooth bottle with rounded edges using the left arm.", + "Shake the bottle with green label after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick the bottle with green label up with the left arm and shake.", + "Grab the bottle with green and white labels using the left arm, then shake.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Shake the smooth bottle with rounded edges using the left arm after grabbing.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Hold the bottle with white cap steady, then shake it.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Shake the smooth bottle with rounded edges firmly after grabbing.", + "Lift the yellow bottle and shake it thoroughly.", + "Pick the bottle with white cap, shake it with the left arm.", + "Grasp the yellow bottle with the left arm and shake it.", + "Use the left arm to lift and shake the yellow bottle.", + "Lift the bottle with a smooth plastic body with the left arm and give it a shake.", + "Lift the plastic bottle and shake it gently.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Lift up the smooth bottle with rounded edges using the left arm, then shake.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Catch the yellow container with rounded edges and shake it instantly.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Grab the bottle with a smooth plastic body with the left arm and shake.", + "Use the left arm to pick and shake the yellow container with rounded edges.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Hold the bottle with green label and shake it properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to hold the bottle with green label and shake it.", + "Grip the bottle with green label using the left arm and shake.", + "Hold and shake the the medium rectangular yellow bottle carefully.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake.", + "Shake the yellow bottle after grabbing it.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Lift the bottle with white cap with the left arm and shake it.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Shake the the yellow bottle properly after lifting.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Shake the bottle with green and white labels after holding it firmly.", + "Grab the yellow plastic bottle with white top and shake it steadily.", + "Grab the yellow bottle with a green design and move it to shake.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "Use the left arm to grab the yellow bottle with a green design and shake properly.", + "Pick the bottle with green and white labels up using the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "With the left arm, pick the bottle with green label and shake properly.", + "Take the yellow bottle with a green design using the left arm and give it a shake.", + "Use the left arm to grab the bottle with green label and shake it.", + "Grab and shake the bottle with green and white labels using the left arm.", + "Shake the bottle with white cap after grabbing it.", + "Secure the bottle with white cap, shake it, and place it down.", + "Pick the yellow bottle up with the left arm and shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Grab the plastic bottle carefully and shake.", + "Hold the yellow container with rounded edges steady, then shake it.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Shake the yellow plastic bottle with white top firmly after grabbing.", + "Lift the yellow bottle and shake it thoroughly.", + "Pick the bottle with green and white labels, shake it with the left arm.", + "Grasp the yellow bottle with a green design with the left arm and shake it." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode30.json b/shake_bottle/ur5_clean_50/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..fc7fb5d02dd7428eef2db9be5e08b151037828e5 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow bottle using the right arm, then shake.", + "Lift up the yellow plastic bottle with white top using the right arm, then shake.", + "Catch the yellow bottle and shake it instantly.", + "Pick up the bottle with green and white labels and shake it well.", + "Use the right arm to hold the bottle with green and white labels and shake it.", + "Grasp the smooth bottle with rounded edges with the right arm and shake it.", + "Pick the smooth bottle with rounded edges up using the right arm and shake it.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the rectangular bottle with cylindrical neck with the right arm and shake.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Hold the bottle with white cap steady, then shake it.", + "Shake the yellow container with rounded edges using the right arm after grabbing.", + "Pick the rectangular bottle with cylindrical neck up with the right arm and shake.", + "Hold the bottle with green and white labels, shake it briefly.", + "Pick up the yellow container with rounded edges and shake it.", + "Take the bottle with green label using the right arm and give it a shake.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Use the right arm to pick and shake the yellow bottle with a green design.", + "Grab and shake the medium rectangular yellow bottle using the right arm.", + "Shake the the plastic bottle properly after lifting.", + "Pick the yellow bottle with a green design, shake it with the right arm.", + "Lift the yellow bottle with a green design and shake it gently.", + "Grab the smooth bottle with rounded edges and shake it steadily.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Lift the medium rectangular yellow bottle with the right arm and give it a shake.", + "Secure the yellow bottle, shake it, and place it down.", + "Grip the yellow plastic bottle with white top using the right arm and shake.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Shake the bottle with white cap firmly after grabbing.", + "Utilize the right arm to hold the yellow plastic bottle with white top and shake it.", + "Grab the yellow plastic bottle with white top and move it to shake.", + "Shake the yellow bottle with a green design after grabbing it.", + "Grab the yellow bottle with a green design carefully and shake.", + "Use the right arm to grab the yellow bottle with a green design and shake properly.", + "Use the right arm to lift and shake the bottle with green label.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.", + "Lift the bottle with green label with the right arm and shake.", + "With the right arm, pick the yellow bottle and shake properly.", + "Hold the plastic bottle and shake it properly.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Shake the bottle with green and white labels after holding it firmly.", + "Use the right arm to grab the bottle with a smooth plastic body and shake it.", + "Shake the yellow bottle after grabbing it.", + "Hold the yellow plastic bottle with white top with the right arm and shake lightly.", + "Grab the bottle with a smooth plastic body using the right arm, then shake.", + "Lift up the smooth bottle with rounded edges using the right arm, then shake.", + "Catch the bottle with green and white labels and shake it instantly.", + "Pick up the bottle with white cap and shake it well.", + "Use the right arm to hold the smooth bottle with rounded edges and shake it.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Pick the yellow bottle with a green design up using the right arm and shake it.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Grab the smooth bottle with rounded edges with the right arm and shake.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Secure the yellow bottle and perform a shake.", + "Lift the yellow bottle with the right arm and shake it.", + "Hold the bottle with green and white labels steady, then shake it.", + "Shake the medium rectangular yellow bottle using the right arm after grabbing.", + "Pick the yellow bottle with a green design up with the right arm and shake.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Pick up the bottle with white cap and shake it.", + "Take the yellow bottle using the right arm and give it a shake.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to pick and shake the bottle with green label.", + "Grab and shake the bottle with green and white labels using the right arm.", + "Shake the the yellow bottle properly after lifting.", + "Pick the bottle with white cap, shake it with the right arm.", + "Lift the bottle with white cap and shake it gently.", + "Grab the bottle with a smooth plastic body and shake it steadily.", + "Shake the yellow container with rounded edges after grabbing it.", + "Lift the bottle with a smooth plastic body with the right arm and give it a shake.", + "Secure the bottle with white cap, shake it, and place it down.", + "Grip the rectangular bottle with cylindrical neck using the right arm and shake.", + "Lift the bottle with white cap and shake it thoroughly.", + "Shake the yellow bottle firmly after grabbing.", + "Utilize the right arm to hold the smooth bottle with rounded edges and shake it.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Shake the yellow bottle after grabbing it.", + "Grab the bottle with green and white labels carefully and shake.", + "Use the right arm to grab the smooth bottle with rounded edges and shake properly.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Use the right arm to lift and shake the bottle with green label.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Lift the yellow plastic bottle with white top with the right arm and shake.", + "With the right arm, pick the bottle with green label and shake properly.", + "Hold the bottle with white cap and shake it properly.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the medium rectangular yellow bottle after holding it firmly.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake it.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Hold the yellow bottle with the right arm and shake lightly." + ], + "unseen": [ + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode31.json b/shake_bottle/ur5_clean_50/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf487f9b4b42b88dfca384a8033660147e5515b --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Use the right arm to grab the bottle with brown body and white top and shake properly.", + "Lift up the cylindrical bottle with narrow neck using the right arm, then shake.", + "With the right arm, pick the medium bottle with smooth texture and shake properly.", + "Shake the smooth brown bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Use the right arm to grab the bottle with dark brown color and shake it.", + "Grab the medium plastic bottle and move it to shake.", + "Catch the bottle with brown body and white top and shake it instantly.", + "Pick the plastic bottle with printed label up with the right arm and shake.", + "Use the right arm to hold the medium plastic bottle and shake it.", + "Grab the cylindrical bottle with narrow neck using the right arm, then shake.", + "Lift the plastic bottle with printed label with the right arm and shake.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Lift the bottle with dark brown color and shake it gently.", + "Hold the bottle with brown body and white top with the right arm and shake lightly.", + "Grab the medium plastic bottle with the right arm and shake.", + "Lift the smooth brown bottle with the right arm and give it a shake.", + "Hold the rounded bottle with printed details steady, then shake it.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Shake the rounded bottle with printed details after grabbing it.", + "Grip the bottle with dark brown color using the right arm and shake.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grab the rounded bottle with printed details and give it a shake.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Hold the medium plastic bottle and shake it properly.", + "Lift the plastic bottle for liquids with the right arm and shake it.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Pick the plastic bottle for liquids up using the right arm and shake it.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Grab and shake the plastic bottle with printed label using the right arm.", + "Using the right arm, shake the plastic bottle with printed label and then place it back.", + "Secure the smooth brown bottle and perform a shake.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Pick the plastic bottle with printed label, shake it with the right arm.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Utilize the right arm to hold the plastic bottle for liquids and shake it.", + "Pick up the bottle with brown body and white top and shake it.", + "Use the right arm to pick and shake the medium bottle with smooth texture.", + "Shake the smooth brown bottle after lifting it.", + "Grab the bottle with dark brown color and shake it steadily.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Grab the medium plastic bottle carefully and shake.", + "Hold the bottle with dark brown color, shake it briefly.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Grab the medium bottle with smooth texture firmly, shake it, and put it down.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Use the right arm to grab the handheld brown bottle with white lid and shake properly.", + "Lift up the bottle with dark brown color using the right arm, then shake.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Shake the plastic bottle for liquids using the right arm after grabbing.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake it.", + "Grab the bottle with white cap and move it to shake.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Pick the bottle with white cap up with the right arm and shake.", + "Use the right arm to hold the rounded bottle with printed details and shake it.", + "Grab the handheld brown bottle with white lid using the right arm, then shake.", + "Lift the handheld brown bottle with white lid with the right arm and shake.", + "Take the plastic bottle for liquids using the right arm and give it a shake.", + "Lift the bottle with brown body and white top and shake it gently.", + "Hold the plastic bottle with printed label with the right arm and shake lightly.", + "Grab the medium bottle with smooth texture with the right arm and shake.", + "Lift the handheld brown bottle with white lid with the right arm and give it a shake.", + "Hold the smooth brown bottle steady, then shake it.", + "Pick the bottle with white cap and perform shaking motion.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grip the cylindrical bottle with narrow neck using the right arm and shake.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Grab the rounded bottle with printed details and give it a shake.", + "Use the right arm to lift and shake the plastic bottle for liquids.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Lift the medium bottle with smooth texture with the right arm and shake it.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Pick the medium plastic bottle up using the right arm and shake it.", + "Hold and shake the the bottle with brown body and white top carefully.", + "Grab and shake the medium bottle with smooth texture using the right arm.", + "Using the right arm, shake the medium plastic bottle and then place it back.", + "Secure the smooth brown bottle and perform a shake.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Pick the medium plastic bottle, shake it with the right arm.", + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "Utilize the right arm to hold the rounded bottle with printed details and shake it.", + "Pick up the bottle with dark brown color and shake it.", + "Use the right arm to pick and shake the bottle with dark brown color.", + "Shake the bottle with brown body and white top after lifting it.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Grab the medium bottle with smooth texture carefully and shake.", + "Hold the handheld brown bottle with white lid, shake it briefly.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Shake the the bottle with dark brown color properly after lifting.", + "Grasp the plastic bottle with printed label with the right arm and shake it.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Shake the bottle with brown body and white top thoroughly after grabbing it." + ], + "unseen": [ + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode32.json b/shake_bottle/ur5_clean_50/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..cfe6329cef6a652400dda3ff8e6b6c5a8d5f8daa --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with yellow cap firmly after grabbing.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake.", + "Pick the medium-sized orange bottle up using the right arm and shake it.", + "Grab the smooth plastic bottle and move it to shake.", + "Using the right arm, shake the orange bottle and then place it back.", + "Shake the the plastic bottle with sealed yellow cap properly after lifting.", + "Hold and shake the the medium-sized orange bottle carefully.", + "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.", + "Use the right arm to grab the yellow-capped plastic bottle and shake properly.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the right arm to grab the bottle with narrow neck and shake it.", + "Grip the cylindrical orange bottle with yellow top using the right arm and shake.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Lift the bottle with printed label with the right arm and give it a shake.", + "Shake the medium-sized orange bottle after lifting it.", + "Secure the bottle with yellow cap and perform a shake.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Grab the bottle for liquids and shake it steadily.", + "Grab the bottle with narrow neck using the right arm, then shake.", + "Lift the orange bottle with the right arm and shake it.", + "Secure the bottle with printed label, shake it, and place it down.", + "Hold the cylindrical orange bottle with yellow top and shake it properly.", + "Grab the yellow-capped plastic bottle with the right arm and shake.", + "Shake the bottle with narrow neck using the right arm after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Grab and shake the yellow-capped plastic bottle using the right arm.", + "Hold the yellow-capped plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Catch the cylindrical orange bottle with yellow top and shake it instantly.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Lift the bottle with narrow neck and shake it gently.", + "Hold the medium-sized orange bottle steady, then shake it.", + "With the right arm, pick the medium-sized orange bottle and shake properly.", + "Pick up the orange cylindrical bottle and shake it well.", + "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.", + "Grab the orange bottle and give it a shake.", + "Pick up the cylindrical orange bottle with yellow top and shake it.", + "Use the right arm to pick and shake the bottle with yellow cap.", + "Shake the smooth plastic bottle after holding it firmly.", + "Grab the bottle with narrow neck carefully and shake.", + "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Pick the orange cylindrical bottle and perform shaking motion.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Shake the bottle with narrow neck after grabbing it.", + "Lift the yellow-capped plastic bottle with the right arm and shake.", + "Pick the bottle for liquids up using the right arm and shake it.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Using the right arm, shake the smooth plastic bottle and then place it back.", + "Shake the the plastic bottle with sealed yellow cap properly after lifting.", + "Hold and shake the the orange cylindrical bottle carefully.", + "Use the right arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the right arm to grab the bottle with printed label and shake properly.", + "Shake the bottle with printed label after grabbing it.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.", + "Lift the yellow-capped plastic bottle with the right arm and give it a shake.", + "Shake the medium-sized orange bottle after lifting it.", + "Secure the orange cylindrical bottle and perform a shake.", + "Grasp the cylindrical orange bottle with yellow top with the right arm and shake it.", + "Grab the bottle for liquids and shake it steadily.", + "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the orange bottle and shake it properly.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Lift up the yellow-capped plastic bottle using the right arm, then shake.", + "Grab and shake the orange cylindrical bottle using the right arm.", + "Hold the plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the orange bottle.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Pick the orange bottle, shake it with the right arm.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Lift the bottle with printed label and shake it gently.", + "Hold the bottle with yellow cap steady, then shake it.", + "With the right arm, pick the orange cylindrical bottle and shake properly.", + "Pick up the bottle for liquids and shake it well.", + "Utilize the right arm to hold the orange cylindrical bottle and shake it.", + "Grab the medium-sized orange bottle and give it a shake.", + "Pick up the bottle with yellow cap and shake it.", + "Use the right arm to pick and shake the orange bottle.", + "Shake the bottle with yellow cap after holding it firmly.", + "Grab the orange bottle carefully and shake.", + "Use the right arm to lift and shake the orange bottle.", + "Take the orange bottle using the right arm and give it a shake.", + "Pick the bottle with narrow neck up with the right arm and shake.", + "Shake the orange bottle thoroughly after grabbing it.", + "Pick the bottle with printed label and perform shaking motion." + ], + "unseen": [ + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode33.json b/shake_bottle/ur5_clean_50/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..47d62543d2a9018b498909ebdd121bf159d820f4 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic bottle with sealed yellow cap steady, then shake it.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Shake the cylindrical orange bottle with yellow top after holding it firmly.", + "Using the left arm, shake the medium-sized orange bottle and then place it back.", + "Grasp the yellow-capped plastic bottle with the left arm and shake it.", + "Shake the yellow-capped plastic bottle using the left arm after grabbing.", + "Grab the cylindrical orange bottle with yellow top carefully and shake.", + "Pick the plastic bottle and perform shaking motion.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Use the left arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Pick up the plastic bottle with sealed yellow cap and shake it well.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.", + "Use the left arm to grab the yellow-capped plastic bottle and shake properly.", + "Lift up the bottle with narrow neck using the left arm, then shake.", + "Shake the medium-sized orange bottle firmly after grabbing.", + "Grab the bottle for liquids and move it to shake.", + "Take the orange bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the medium-sized orange bottle.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Grab the bottle for liquids and shake it steadily.", + "Shake the cylindrical orange bottle with yellow top after lifting it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Hold the smooth plastic bottle, shake it briefly.", + "Use the left arm to lift and shake the yellow-capped plastic bottle.", + "Lift the plastic bottle and shake it thoroughly.", + "Secure the bottle with printed label and perform a shake.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Hold the bottle with yellow cap and shake it properly.", + "Lift the bottle with yellow cap with the left arm and shake.", + "Utilize the left arm to hold the medium-sized orange bottle and shake it.", + "Pick up the cylindrical orange bottle with yellow top and shake it.", + "Lift the bottle for liquids with the left arm and give it a shake.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Grab the orange bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Lift the orange bottle and shake it gently.", + "Pick the bottle for liquids, shake it with the left arm.", + "Hold and shake the the plastic bottle with sealed yellow cap carefully.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "With the left arm, pick the orange bottle and shake properly.", + "Use the left arm to grab the orange cylindrical bottle and shake it.", + "Shake the orange bottle after grabbing it.", + "Pick the bottle with narrow neck up using the left arm and shake it.", + "Grab and shake the bottle for liquids using the left arm.", + "Shake the bottle for liquids after grabbing it.", + "Grab the orange cylindrical bottle and give it a shake.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Grab the yellow-capped plastic bottle with the left arm and shake.", + "Grip the bottle with printed label using the left arm and shake.", + "Hold the bottle with narrow neck steady, then shake it.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Shake the yellow-capped plastic bottle after holding it firmly.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the medium-sized orange bottle using the left arm after grabbing.", + "Grab the bottle with narrow neck carefully and shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Pick the bottle with yellow cap up with the left arm and shake.", + "Use the left arm to hold the orange bottle and shake it.", + "Pick up the bottle with yellow cap and shake it well.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Lift the bottle with yellow cap with the left arm and shake it.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Lift up the bottle for liquids using the left arm, then shake.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Grab the bottle with yellow cap and move it to shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the orange bottle.", + "Shake the the bottle with yellow cap properly after lifting.", + "Grab the plastic bottle with sealed yellow cap and shake it steadily.", + "Shake the plastic bottle after lifting it.", + "Shake the orange cylindrical bottle thoroughly after grabbing it.", + "Hold the orange bottle, shake it briefly.", + "Use the left arm to lift and shake the orange bottle.", + "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Hold the bottle with narrow neck and shake it properly.", + "Lift the bottle with printed label with the left arm and shake.", + "Utilize the left arm to hold the bottle with printed label and shake it.", + "Pick up the medium-sized orange bottle and shake it.", + "Lift the bottle for liquids with the left arm and give it a shake.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Grab the orange cylindrical bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the plastic bottle with sealed yellow cap and shake it gently.", + "Pick the yellow-capped plastic bottle, shake it with the left arm.", + "Hold and shake the the medium-sized orange bottle carefully.", + "Hold the yellow-capped plastic bottle with the left arm and shake lightly.", + "With the left arm, pick the orange cylindrical bottle and shake properly.", + "Use the left arm to grab the orange cylindrical bottle and shake it.", + "Shake the orange cylindrical bottle after grabbing it.", + "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.", + "Grab and shake the bottle with printed label using the left arm.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle for liquids and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Grip the smooth plastic bottle using the left arm and shake." + ], + "unseen": [ + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode34.json b/shake_bottle/ur5_clean_50/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..46255c4e505fc4cdd0679d43576296779bc15c40 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the plastic bottle with the left arm and shake it.", + "Grip the bottle with flat sides and logo using the left arm and shake.", + "Hold and shake the the plastic bottle carefully.", + "Pick the medium-sized brown plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Shake the rectangular brown body with white top after lifting it.", + "Grab the medium bottle with glossy surface carefully and shake.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Grab the brown bottle with the left arm and shake.", + "Shake the the smooth plastic bottle with white cap properly after lifting.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the rectangular brown body with white top after grabbing it.", + "Grab the rectangular-shaped bottle with round cap and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the smooth brown bottle with green label firmly, shake it, and put it down.", + "Lift the bottle with green cap and shake it thoroughly.", + "Pick the bottle with flat sides and logo and perform shaking motion.", + "Shake the medium bottle with glossy surface after holding it firmly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Hold the medium-sized brown plastic bottle and shake it properly.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Pick up the dark brown bottle with a squared body and shake it well.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Lift the brown bottle with the left arm and give it a shake.", + "Use the left arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Take the brown bottle using the left arm and give it a shake.", + "Grab the rectangular-shaped bottle with round cap and shake it steadily.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Hold the brown bottle, shake it briefly.", + "Pick up the plastic bottle and shake it.", + "Lift the brown bottle with rounded rectangular shape and shake it gently.", + "Pick the medium bottle with glossy surface, shake it with the left arm.", + "Use the left arm to grab the brown bottle and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Using the left arm, shake the brown bottle and then place it back.", + "Use the left arm to pick and shake the brown bottle with rounded rectangular shape.", + "Pick the medium bottle with glossy surface up with the left arm and shake.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Hold the bottle with green cap steady, then shake it.", + "Grab the rectangular-shaped bottle with round cap and move it to shake.", + "Hold the brown bottle with the left arm and shake lightly.", + "Lift up the brown bottle using the left arm, then shake.", + "Grasp the bottle with flat sides and logo with the left arm and shake it.", + "Grip the smooth brown bottle with green label using the left arm and shake.", + "Hold and shake the the medium-sized brown plastic bottle carefully.", + "Pick the rectangular brown body with white top up using the left arm and shake it.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Shake the smooth brown bottle with green label after lifting it.", + "Grab the medium bottle with glossy surface carefully and shake.", + "Shake the brown bottle after grabbing it.", + "Secure the medium bottle with glossy surface, shake it, and place it down.", + "Grab the rectangular-shaped bottle with round cap with the left arm and shake.", + "Shake the the medium bottle with glossy surface properly after lifting.", + "Utilize the left arm to hold the smooth brown bottle with green label and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Grab the medium bottle with glossy surface using the left arm, then shake.", + "Grab the smooth plastic bottle with white cap firmly, shake it, and put it down.", + "Lift the brown bottle with rounded rectangular shape and shake it thoroughly.", + "Pick the rectangular-shaped bottle with round cap and perform shaking motion.", + "Shake the medium bottle with glossy surface after holding it firmly.", + "With the left arm, pick the medium-sized brown plastic bottle and shake properly.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Hold the plastic bottle and shake it properly.", + "Catch the brown bottle with rounded rectangular shape and shake it instantly.", + "Lift the bottle with flat sides and logo with the left arm and shake it.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Pick up the medium bottle with glossy surface and shake it well.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Use the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Shake the rectangular-shaped bottle with round cap firmly after grabbing.", + "Take the bottle with green cap using the left arm and give it a shake.", + "Grab the rectangular brown body with white top and shake it steadily.", + "Shake the medium bottle with glossy surface thoroughly after grabbing it.", + "Hold the medium bottle with glossy surface, shake it briefly.", + "Pick up the brown bottle and shake it.", + "Lift the medium bottle with glossy surface and shake it gently.", + "Pick the medium bottle with glossy surface, shake it with the left arm.", + "Use the left arm to grab the brown bottle and shake it.", + "Lift the rectangular-shaped bottle with round cap with the left arm and shake.", + "Using the left arm, shake the smooth plastic bottle with white cap and then place it back.", + "Use the left arm to pick and shake the medium bottle with glossy surface.", + "Pick the rectangular-shaped bottle with round cap up with the left arm and shake.", + "Grab and shake the rectangular brown body with white top using the left arm.", + "Secure the smooth plastic bottle with white cap and perform a shake.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Hold the medium bottle with glossy surface steady, then shake it.", + "Grab the brown bottle and move it to shake.", + "Hold the brown bottle with rounded rectangular shape with the left arm and shake lightly.", + "Lift up the bottle with flat sides and logo using the left arm, then shake." + ], + "unseen": [ + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode35.json b/shake_bottle/ur5_clean_50/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..a7b2b417875043da84a104cb1c6ee3eef317c031 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the plastic drink bottle using the right arm.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Lift the red-capped bottle with the right arm and shake it.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Grab the long thin bottle and move it to shake.", + "Shake the Coca-Cola bottle after lifting it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Pick up the narrow-necked bottle and shake it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Grab the long thin bottle using the right arm, then shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Lift the plastic drink bottle and shake it gently.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Lift the red-capped bottle with the right arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "With the right arm, pick the long thin bottle and shake properly.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Pick up the hand-sized soda bottle and shake it well.", + "Hold the long thin bottle and shake it properly.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift up the long thin bottle using the right arm, then shake.", + "Pick the red-capped bottle, shake it with the right arm.", + "Lift the red-capped bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Grab the long thin bottle and move it to shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Shake the red-capped bottle firmly after grabbing.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Pick up the red-capped bottle and shake it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grab the long thin bottle and give it a shake.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Lift the smooth bottle with red lid and shake it gently.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Grab the plastic drink bottle with the right arm and shake.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Shake the the plastic drink bottle properly after lifting.", + "Pick up the long thin bottle and shake it well.", + "Hold the smooth bottle with red lid and shake it properly." + ], + "unseen": [ + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode36.json b/shake_bottle/ur5_clean_50/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..6bcd8934f3d464dec48f326ffa455ef1696f18ee --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the handheld bottle using the left arm.", + "Secure the medium bottle for beverages and perform a shake.", + "Grab the bottle with blue cap firmly, shake it, and put it down.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Hold the blue bottle with the left arm and shake lightly.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Grasp the bottle with blue cap with the left arm and shake it.", + "Lift the white and blue bottle and shake it gently.", + "Shake the smooth plastic bottle after grabbing it.", + "Lift the white bottle with blue accents with the left arm and shake.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Lift the medium bottle for beverages and shake it thoroughly.", + "Pick up the smooth plastic bottle and shake it well.", + "Grab the cylindrical bottle and shake it steadily.", + "Shake the bottle with blue cap after grabbing it.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Hold and shake the the white and blue bottle carefully.", + "Use the left arm to lift and shake the bottle for liquids.", + "Pick the blue bottle with label and perform shaking motion.", + "Grab the white bottle with blue accents with the left arm and shake.", + "Hold the medium bottle for beverages, shake it briefly.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "Hold the smooth plastic bottle and shake it properly.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Shake the the blue bottle with label properly after lifting.", + "Grip the white and blue bottle using the left arm and shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Grab the cylindrical bottle using the left arm, then shake.", + "Use the left arm to hold the bottle with blue cap and shake it.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Use the left arm to lift and shake the handheld bottle.", + "Pick the handheld bottle up using the left arm and shake it.", + "Shake the white bottle with blue accents after lifting it.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Hold the blue bottle with label steady, then shake it.", + "Shake the blue bottle firmly after grabbing.", + "Grab the bottle with blue cap and give it a shake.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Grab the white and blue bottle and move it to shake.", + "Catch the blue bottle with label and shake it instantly.", + "Shake the bottle for liquids after holding it firmly.", + "Use the left arm to pick and shake the bottle with blue cap.", + "Shake the white bottle with blue accents using the left arm after grabbing.", + "Take the bottle with blue cap using the left arm and give it a shake.", + "Grab the white bottle with blue accents carefully and shake.", + "Pick the white bottle with blue accents, shake it with the left arm.", + "Pick up the blue bottle with label and shake it.", + "Shake the white and blue bottle after grabbing it.", + "Using the left arm, shake the white and blue bottle and then place it back.", + "Grab and shake the handheld bottle using the left arm.", + "Secure the plastic bottle and perform a shake.", + "Grab the blue bottle with label firmly, shake it, and put it down.", + "Lift the medium bottle for beverages with the left arm and shake it.", + "Hold the bottle with blue cap with the left arm and shake lightly.", + "Lift up the bottle with blue cap using the left arm, then shake.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Lift the white bottle with blue accents and shake it gently.", + "Shake the plastic bottle after grabbing it.", + "Lift the blue bottle with label with the left arm and shake.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Lift the white and blue bottle and shake it thoroughly.", + "Pick up the white bottle with blue accents and shake it well.", + "Grab the white bottle with blue accents and shake it steadily.", + "Shake the white bottle with blue accents after grabbing it.", + "Secure the blue bottle, shake it, and place it down.", + "Hold and shake the the medium bottle for beverages carefully.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Pick the blue bottle and perform shaking motion.", + "Grab the medium bottle for beverages with the left arm and shake.", + "Hold the medium-sized bottle, shake it briefly.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the medium bottle for beverages and shake it.", + "Hold the blue bottle and shake it properly.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Shake the the bottle for liquids properly after lifting.", + "Grip the medium bottle for beverages using the left arm and shake.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Grab the blue bottle with label using the left arm, then shake.", + "Use the left arm to hold the white and blue bottle and shake it.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Shake the medium bottle for beverages after lifting it.", + "Use the left arm to lift and shake the bottle with blue cap.", + "Hold the white bottle with blue accents steady, then shake it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Grab the bottle with blue cap and give it a shake.", + "With the left arm, pick the white bottle with blue accents and shake properly.", + "Grab the white bottle with blue accents and move it to shake.", + "Catch the blue bottle with label and shake it instantly.", + "Shake the white and blue bottle after holding it firmly.", + "Use the left arm to pick and shake the blue bottle.", + "Shake the blue bottle with label using the left arm after grabbing.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grab the blue bottle carefully and shake.", + "Pick the handheld bottle, shake it with the left arm.", + "Pick up the bottle for liquids and shake it.", + "Shake the bottle with blue cap after grabbing it.", + "Using the left arm, shake the medium bottle for beverages and then place it back." + ], + "unseen": [ + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode37.json b/shake_bottle/ur5_clean_50/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..2db12769962109f089b3a7ecbacee3d6eda7c5cb --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Secure the medium plastic bottle, shake it, and place it down.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Lift the handheld brown bottle with white lid with the left arm and shake.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Hold the rounded bottle with printed details steady, then shake it.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Take the plastic bottle for liquids using the left arm and give it a shake.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Lift up the smooth brown bottle using the left arm, then shake.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Hold the cylindrical bottle with narrow neck, shake it briefly.", + "Hold the plastic bottle for liquids and shake it properly.", + "Use the left arm to pick and shake the bottle with dark brown color.", + "Shake the the rounded bottle with printed details properly after lifting.", + "Lift the bottle with brown body and white top with the left arm and shake it.", + "Grab the medium bottle with smooth texture carefully and shake.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "Use the left arm to hold the medium plastic bottle and shake it.", + "Use the left arm to grab the bottle with brown body and white top and shake properly.", + "Pick up the medium plastic bottle and shake it.", + "Use the left arm to grab the bottle with dark brown color and shake it.", + "Grab the cylindrical bottle with narrow neck with the left arm and shake.", + "Lift the plastic bottle for liquids and shake it gently.", + "Pick the rounded bottle with printed details up with the left arm and shake.", + "Using the left arm, shake the plastic bottle with printed label and then place it back.", + "Shake the plastic bottle with printed label using the left arm after grabbing.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Pick the rounded bottle with printed details up using the left arm and shake it.", + "Grab and shake the bottle with dark brown color using the left arm.", + "Shake the medium bottle with smooth texture after holding it firmly.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "Grab the plastic bottle for liquids using the left arm, then shake.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Hold the handheld brown bottle with white lid with the left arm and shake lightly.", + "Secure the bottle with white cap and perform a shake.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Shake the medium plastic bottle after grabbing it.", + "Catch the bottle with brown body and white top and shake it instantly.", + "Utilize the left arm to hold the bottle with dark brown color and shake it.", + "Shake the medium plastic bottle after lifting it.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Grab the plastic bottle for liquids and give it a shake.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Pick up the smooth brown bottle and shake it well.", + "Secure the white-capped brown cylindrical bottle, shake it, and place it down.", + "With the left arm, pick the smooth brown bottle and shake properly.", + "Lift the bottle with brown body and white top with the left arm and shake.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Hold the bottle with dark brown color steady, then shake it.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.", + "Pick the bottle with dark brown color, shake it with the left arm.", + "Pick the plastic bottle for liquids and perform shaking motion.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Hold the smooth brown bottle, shake it briefly.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Use the left arm to pick and shake the cylindrical bottle with narrow neck.", + "Shake the the bottle with dark brown color properly after lifting.", + "Lift the handheld brown bottle with white lid with the left arm and shake it.", + "Grab the plastic bottle with printed label carefully and shake.", + "Grip the bottle with white cap using the left arm and shake.", + "Use the left arm to hold the bottle with brown body and white top and shake it.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to grab the bottle with brown body and white top and shake it.", + "Grab the handheld brown bottle with white lid with the left arm and shake.", + "Lift the medium plastic bottle and shake it gently.", + "Pick the medium plastic bottle up with the left arm and shake.", + "Using the left arm, shake the plastic bottle with printed label and then place it back.", + "Shake the medium bottle with smooth texture using the left arm after grabbing.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Pick the plastic bottle for liquids up using the left arm and shake it.", + "Grab and shake the smooth brown bottle using the left arm.", + "Shake the bottle with dark brown color after holding it firmly.", + "Grasp the medium bottle with smooth texture with the left arm and shake it.", + "Grab the cylindrical bottle with narrow neck using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Grab the rounded bottle with printed details and move it to shake.", + "Hold the bottle with white cap with the left arm and shake lightly.", + "Secure the bottle with white cap and perform a shake.", + "Lift the cylindrical bottle with narrow neck with the left arm and give it a shake.", + "Shake the plastic bottle with printed label after grabbing it.", + "Catch the white-capped brown cylindrical bottle and shake it instantly.", + "Utilize the left arm to hold the medium plastic bottle and shake it.", + "Shake the bottle with dark brown color after lifting it.", + "Shake the bottle with dark brown color after grabbing it.", + "Grab the medium bottle with smooth texture and give it a shake.", + "Lift the smooth brown bottle and shake it thoroughly.", + "Grab the medium bottle with smooth texture firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode38.json b/shake_bottle/ur5_clean_50/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..bdac7eeeb9009630b3b8fe166ed4f982986256b1 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with dark brown color after grabbing it.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Pick the medium bottle with smooth texture up using the right arm and shake it.", + "Grasp the smooth brown bottle with the right arm and shake it.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Shake the cylindrical bottle with narrow neck after lifting it.", + "Grab the medium plastic bottle carefully and shake.", + "Lift the plastic bottle for liquids with the right arm and shake it.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Grab the plastic bottle for liquids with the right arm and shake.", + "Lift the white-capped brown cylindrical bottle with the right arm and give it a shake.", + "Shake the bottle with white cap firmly after grabbing.", + "Catch the white-capped brown cylindrical bottle and shake it instantly.", + "Grab the bottle with white cap and give it a shake.", + "Lift the plastic bottle with printed label and shake it gently.", + "Hold the bottle with dark brown color with the right arm and shake lightly.", + "Grab the handheld brown bottle with white lid and move it to shake.", + "Grab and shake the bottle with dark brown color using the right arm.", + "Pick the medium bottle with smooth texture, shake it with the right arm.", + "Hold and shake the the bottle with dark brown color carefully.", + "Pick up the medium bottle with smooth texture and shake it.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "Lift the medium bottle with smooth texture with the right arm and shake.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Grab the smooth brown bottle firmly, shake it, and put it down.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Shake the bottle with dark brown color using the right arm after grabbing.", + "Lift up the medium plastic bottle using the right arm, then shake.", + "Use the right arm to grab the medium bottle with smooth texture and shake it.", + "With the right arm, pick the smooth brown bottle and shake properly.", + "Use the right arm to pick and shake the medium bottle with smooth texture.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Hold the smooth brown bottle and shake it properly.", + "Use the right arm to hold the rounded bottle with printed details and shake it.", + "Pick the medium bottle with smooth texture up with the right arm and shake.", + "Secure the medium plastic bottle and perform a shake.", + "Use the right arm to lift and shake the bottle with dark brown color.", + "Lift the medium plastic bottle and shake it thoroughly.", + "Using the right arm, shake the bottle with brown body and white top and then place it back.", + "Shake the the bottle with white cap properly after lifting.", + "Pick up the bottle with white cap and shake it well.", + "Utilize the right arm to hold the bottle with white cap and shake it.", + "Grab the medium plastic bottle using the right arm, then shake.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Grip the medium plastic bottle using the right arm and shake.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Shake the smooth brown bottle after grabbing it.", + "Shake the bottle with white cap after grabbing it.", + "Pick the bottle with dark brown color and perform shaking motion.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Pick the bottle with dark brown color up using the right arm and shake it.", + "Grasp the medium bottle with smooth texture with the right arm and shake it.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Shake the bottle with brown body and white top after lifting it.", + "Grab the plastic bottle with printed label carefully and shake.", + "Lift the plastic bottle with printed label with the right arm and shake it.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Grab the handheld brown bottle with white lid with the right arm and shake.", + "Lift the handheld brown bottle with white lid with the right arm and give it a shake.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Grab the bottle with dark brown color and give it a shake.", + "Lift the smooth brown bottle and shake it gently.", + "Hold the smooth brown bottle with the right arm and shake lightly.", + "Grab the plastic bottle with printed label and move it to shake.", + "Grab and shake the bottle with white cap using the right arm.", + "Pick the bottle with white cap, shake it with the right arm.", + "Hold and shake the the bottle with brown body and white top carefully.", + "Pick up the plastic bottle for liquids and shake it.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Lift the plastic bottle with printed label with the right arm and shake.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Shake the bottle with dark brown color after holding it firmly.", + "Shake the smooth brown bottle using the right arm after grabbing.", + "Lift up the medium bottle with smooth texture using the right arm, then shake.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake it.", + "With the right arm, pick the medium plastic bottle and shake properly.", + "Use the right arm to pick and shake the smooth brown bottle.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "Hold the cylindrical bottle with narrow neck and shake it properly.", + "Use the right arm to hold the plastic bottle for liquids and shake it.", + "Pick the handheld brown bottle with white lid up with the right arm and shake.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Using the right arm, shake the plastic bottle for liquids and then place it back.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Pick up the handheld brown bottle with white lid and shake it well.", + "Utilize the right arm to hold the rounded bottle with printed details and shake it.", + "Grab the cylindrical bottle with narrow neck using the right arm, then shake.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "Grab the bottle with brown body and white top and shake it steadily.", + "Grip the bottle with white cap using the right arm and shake.", + "Use the right arm to lift and shake the bottle with dark brown color." + ], + "unseen": [ + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode39.json b/shake_bottle/ur5_clean_50/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..9eb749e4647157de0ee404f5abc4e876dbe78d55 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the orange bottle carefully.", + "Lift the yellow label bottle with the right arm and shake.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Shake the orange and white bottle with cap after lifting it.", + "Secure the medium bottle with orange lid, shake it, and place it down.", + "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.", + "Use the right arm to hold the cylindrical orange and white bottle and shake it.", + "Pick the orange bottle up with the right arm and shake.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Catch the plastic bottle and shake it instantly.", + "Using the right arm, shake the smooth plastic bottle and then place it back.", + "Pick the medium orange bottle and perform shaking motion.", + "Pick up the white and orange plastic bottle and shake it well.", + "Use the right arm to lift and shake the medium orange bottle.", + "Use the right arm to grab the yellow label bottle and shake properly.", + "Shake the yellow label bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Grasp the yellow label bottle with the right arm and shake it.", + "Grab the orange bottle and move it to shake.", + "Hold the orange bottle with the right arm and shake lightly.", + "Pick the bottle with orange cap up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with ribbed orange bottom.", + "Utilize the right arm to hold the drinking bottle with yellow label and shake it.", + "Use the right arm to grab the white and orange plastic bottle and shake it.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Lift the bottle with orange cap with the right arm and shake it.", + "Grab the bottle with orange cap and shake it steadily.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Pick up the drinking bottle with yellow label and shake it.", + "Grip the orange and white bottle with cap using the right arm and shake.", + "Take the medium orange bottle using the right arm and give it a shake.", + "Lift the bottle with ribbed orange bottom and shake it gently.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Shake the bottle with orange cap after grabbing it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Shake the drinking bottle with yellow label firmly after grabbing.", + "Grab the medium orange bottle and give it a shake.", + "Shake the drinking bottle with yellow label after holding it firmly.", + "Hold the plastic bottle, shake it briefly.", + "Grab the orange and white bottle with cap with the right arm and shake.", + "Shake the orange and white bottle with cap using the right arm after grabbing.", + "Grab the medium orange bottle carefully and shake.", + "With the right arm, pick the orange bottle and shake properly.", + "Shake the yellow label bottle after grabbing it.", + "Grab and shake the drinking bottle with yellow label using the right arm.", + "Hold the bottle with orange cap and shake it properly.", + "Pick the orange and white bottle with cap, shake it with the right arm.", + "Grab the bottle with orange cap using the right arm, then shake.", + "Hold and shake the the drinking bottle with yellow label carefully.", + "Lift the cylindrical orange and white bottle with the right arm and shake.", + "Use the right arm to pick and shake the medium orange bottle.", + "Shake the white and orange plastic bottle after lifting it.", + "Secure the bottle with orange cap, shake it, and place it down.", + "Lift the orange and white bottle with cap with the right arm and give it a shake.", + "Use the right arm to hold the white and orange plastic bottle and shake it.", + "Pick the medium orange bottle up with the right arm and shake.", + "Secure the medium orange bottle and perform a shake.", + "Catch the white and orange plastic bottle and shake it instantly.", + "Using the right arm, shake the bottle with ribbed orange bottom and then place it back.", + "Pick the cylindrical orange and white bottle and perform shaking motion.", + "Pick up the orange and white bottle with cap and shake it well.", + "Use the right arm to lift and shake the yellow label bottle.", + "Use the right arm to grab the drinking bottle with yellow label and shake properly.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Use the right arm to lift and shake the drinking bottle with yellow label.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Hold the orange bottle with the right arm and shake lightly.", + "Pick the cylindrical orange and white bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Utilize the right arm to hold the medium orange bottle and shake it.", + "Use the right arm to grab the bottle with orange cap and shake it.", + "Lift up the orange and white bottle with cap using the right arm, then shake.", + "Shake the the orange and white bottle with cap properly after lifting.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Grab the cylindrical orange and white bottle and shake it steadily.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Pick up the bottle with orange cap and shake it.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Take the medium bottle with orange lid using the right arm and give it a shake.", + "Lift the bottle with orange cap and shake it gently.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Hold the cylindrical orange and white bottle steady, then shake it.", + "Shake the bottle with orange cap firmly after grabbing.", + "Grab the medium orange bottle and give it a shake.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Hold the bottle with ribbed orange bottom, shake it briefly.", + "Grab the white and orange plastic bottle with the right arm and shake.", + "Shake the drinking bottle with yellow label using the right arm after grabbing.", + "Grab the orange bottle carefully and shake.", + "With the right arm, pick the medium orange bottle and shake properly.", + "Shake the bottle with orange cap after grabbing it.", + "Grab and shake the orange and white bottle with cap using the right arm.", + "Hold the cylindrical orange and white bottle and shake it properly.", + "Pick the bottle with ribbed orange bottom, shake it with the right arm.", + "Grab the medium bottle with orange lid using the right arm, then shake." + ], + "unseen": [ + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode4.json b/shake_bottle/ur5_clean_50/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..2f509a8fd8d00cfdc9b29c7add38effcc21a3844 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with flat sides and logo after holding it firmly.", + "Lift the medium bottle with glossy surface with the left arm and shake it.", + "Secure the rectangular brown body with white top, shake it, and place it down.", + "With the left arm, pick the dark brown bottle with a squared body and shake properly.", + "Use the left arm to hold the bottle with flat sides and logo and shake it.", + "Hold the medium bottle with glossy surface and shake it properly.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Using the left arm, shake the medium bottle with glossy surface and then place it back.", + "Pick the brown bottle up using the left arm and shake it.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Use the left arm to pick and shake the plastic bottle.", + "Lift the rectangular-shaped bottle with round cap with the left arm and give it a shake.", + "Grab the smooth plastic bottle with white cap with the left arm and shake.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Catch the bottle with green cap and shake it instantly.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake properly.", + "Lift the dark brown bottle with a squared body with the left arm and shake.", + "Take the smooth plastic bottle with white cap using the left arm and give it a shake.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Pick the rectangular brown body with white top up with the left arm and shake.", + "Grab the smooth brown bottle with green label carefully and shake.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Grab and shake the brown bottle with rounded rectangular shape using the left arm.", + "Secure the brown bottle with rounded rectangular shape and perform a shake.", + "Hold the bottle with flat sides and logo, shake it briefly.", + "Lift the smooth brown bottle with green label and shake it gently.", + "Hold and shake the the bottle with green cap carefully.", + "Use the left arm to grab the bottle with flat sides and logo and shake it.", + "Pick the bottle with flat sides and logo and perform shaking motion.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Shake the bottle with green cap firmly after grabbing.", + "Grab the dark brown bottle with a squared body and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the dark brown bottle with a squared body and shake it steadily.", + "Shake the the medium bottle with glossy surface properly after lifting.", + "Pick the medium-sized brown plastic bottle, shake it with the left arm.", + "Pick up the rectangular brown body with white top and shake it well.", + "Grab the bottle with green cap using the left arm, then shake.", + "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.", + "Pick up the smooth plastic bottle with white cap and shake it.", + "Shake the rectangular-shaped bottle with round cap using the left arm after grabbing.", + "Lift up the dark brown bottle with a squared body using the left arm, then shake.", + "Hold the medium bottle with glossy surface with the left arm and shake lightly.", + "Grab the dark brown bottle with a squared body and move it to shake.", + "Grasp the medium bottle with glossy surface with the left arm and shake it.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Hold the smooth plastic bottle with white cap steady, then shake it.", + "Grip the bottle with green cap using the left arm and shake.", + "Utilize the left arm to hold the brown bottle and shake it.", + "Shake the rectangular brown body with white top after holding it firmly.", + "Lift the dark brown bottle with a squared body with the left arm and shake it.", + "Secure the dark brown bottle with a squared body, shake it, and place it down.", + "With the left arm, pick the rectangular brown body with white top and shake properly.", + "Use the left arm to hold the plastic bottle and shake it.", + "Hold the medium bottle with glossy surface and shake it properly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Using the left arm, shake the bottle with flat sides and logo and then place it back.", + "Pick the brown bottle with rounded rectangular shape up using the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the bottle with green cap after lifting it.", + "Use the left arm to pick and shake the bottle with flat sides and logo.", + "Lift the bottle with green cap with the left arm and give it a shake.", + "Grab the dark brown bottle with a squared body with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Catch the bottle with green cap and shake it instantly.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Lift the medium bottle with glossy surface with the left arm and shake.", + "Take the smooth brown bottle with green label using the left arm and give it a shake.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Pick the smooth brown bottle with green label up with the left arm and shake.", + "Grab the bottle with green cap carefully and shake.", + "Use the left arm to lift and shake the medium bottle with glossy surface.", + "Grab and shake the plastic bottle using the left arm.", + "Secure the rectangular-shaped bottle with round cap and perform a shake.", + "Hold the medium bottle with glossy surface, shake it briefly.", + "Lift the rectangular brown body with white top and shake it gently.", + "Hold and shake the the smooth brown bottle with green label carefully.", + "Use the left arm to grab the brown bottle and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the brown bottle after grabbing it.", + "Shake the bottle with flat sides and logo firmly after grabbing.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Shake the bottle with green cap after grabbing it.", + "Grab the bottle with green cap and shake it steadily.", + "Shake the the rectangular brown body with white top properly after lifting.", + "Pick the brown bottle with rounded rectangular shape, shake it with the left arm.", + "Pick up the rectangular brown body with white top and shake it well.", + "Grab the bottle with green cap using the left arm, then shake.", + "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.", + "Pick up the rectangular-shaped bottle with round cap and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Lift up the bottle with flat sides and logo using the left arm, then shake.", + "Hold the bottle with flat sides and logo with the left arm and shake lightly.", + "Grab the medium-sized brown plastic bottle and move it to shake.", + "Grasp the smooth plastic bottle with white cap with the left arm and shake it.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Grip the rectangular brown body with white top using the left arm and shake.", + "Utilize the left arm to hold the rectangular brown body with white top and shake it." + ], + "unseen": [ + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode40.json b/shake_bottle/ur5_clean_50/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..fcdbd96a726dc96d58df7430deb607b44505ecf4 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the drink bottle with rounded yellow lid and shake it properly.", + "Shake the the plastic bottle with colorful label properly after lifting.", + "Lift up the medium black bottle with printed label using the left arm, then shake.", + "Shake the yellow capped drink bottle after lifting it.", + "Lift the smooth black bottle with ridges and shake it thoroughly.", + "Use the left arm to lift and shake the beverage bottle with black body.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake.", + "Using the left arm, shake the yellow-capped cylindrical bottle and then place it back.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Lift the medium bottle with yellow cap with the left arm and shake it.", + "Pick the bottle with blue and yellow print, shake it with the left arm.", + "Shake the yellow capped drink bottle after grabbing it.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Use the left arm to grab the medium black bottle with printed label and shake properly.", + "Secure the smooth black bottle with ridges and perform a shake.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Grab the yellow capped drink bottle and move it to shake.", + "Utilize the left arm to hold the drink bottle with rounded yellow lid and shake it.", + "Take the beverage bottle with black body using the left arm and give it a shake.", + "Grasp the bottle with blue and yellow print with the left arm and shake it.", + "Use the left arm to hold the bottle with blue and yellow print and shake it.", + "Shake the smooth black bottle with ridges thoroughly after grabbing it.", + "Catch the medium black bottle with printed label and shake it instantly.", + "Grab and shake the yellow capped drink bottle using the left arm.", + "With the left arm, pick the yellow-capped cylindrical bottle and shake properly.", + "Pick the smooth black bottle with ridges up using the left arm and shake it.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Shake the beverage bottle with black body after holding it firmly.", + "Hold the medium bottle with yellow cap with the left arm and shake lightly.", + "Pick up the yellow capped drink bottle and shake it well.", + "Grab the plastic bottle with colorful label and give it a shake.", + "Shake the black bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the black cylindrical bottle with ridges.", + "Hold the yellow-capped cylindrical bottle steady, then shake it.", + "Secure the black bottle, shake it, and place it down.", + "Pick the beverage bottle with black body and perform shaking motion.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Lift the beverage bottle with black body with the left arm and give it a shake.", + "Grab the yellow capped drink bottle using the left arm, then shake.", + "Pick up the medium bottle with yellow cap and shake it.", + "Shake the medium black bottle with printed label after grabbing it.", + "Grab the black bottle with the left arm and shake.", + "Grab the medium bottle with yellow cap carefully and shake.", + "Lift the medium bottle with yellow cap and shake it gently.", + "Use the left arm to grab the yellow capped drink bottle and shake it.", + "Grip the yellow capped drink bottle using the left arm and shake.", + "Pick the plastic bottle with colorful label up with the left arm and shake.", + "Hold the drink bottle with rounded yellow lid and shake it properly.", + "Shake the the yellow capped drink bottle properly after lifting.", + "Lift up the yellow capped drink bottle using the left arm, then shake.", + "Shake the black plastic bottle with Pepsi logo after lifting it.", + "Lift the drink bottle with rounded yellow lid and shake it thoroughly.", + "Use the left arm to lift and shake the beverage bottle with black body.", + "Lift the smooth black bottle with ridges with the left arm and shake.", + "Using the left arm, shake the black plastic bottle with Pepsi logo and then place it back.", + "Grab the beverage bottle with black body and shake it steadily.", + "Lift the plastic bottle with colorful label with the left arm and shake it.", + "Pick the plastic bottle with colorful label, shake it with the left arm.", + "Shake the yellow capped drink bottle after grabbing it.", + "Use the left arm to lift and shake the black cylindrical bottle with ridges.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Hold and shake the the black cylindrical bottle with ridges carefully.", + "Use the left arm to grab the bottle with blue and yellow print and shake properly.", + "Secure the yellow-capped cylindrical bottle and perform a shake.", + "Hold the black bottle, shake it briefly.", + "Grab the black plastic bottle with Pepsi logo and move it to shake.", + "Utilize the left arm to hold the medium bottle with yellow cap and shake it.", + "Take the drink bottle with rounded yellow lid using the left arm and give it a shake.", + "Grasp the yellow-capped cylindrical bottle with the left arm and shake it.", + "Use the left arm to hold the medium bottle with yellow cap and shake it.", + "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.", + "Catch the bottle with blue and yellow print and shake it instantly.", + "Grab and shake the plastic bottle with colorful label using the left arm.", + "With the left arm, pick the black plastic bottle with Pepsi logo and shake properly.", + "Pick the bottle with blue and yellow print up using the left arm and shake it.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Shake the smooth black bottle with ridges after holding it firmly.", + "Hold the drink bottle with rounded yellow lid with the left arm and shake lightly.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Shake the yellow-capped cylindrical bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the bottle with blue and yellow print.", + "Hold the yellow-capped cylindrical bottle steady, then shake it.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Lift the yellow capped drink bottle with the left arm and give it a shake.", + "Grab the black cylindrical bottle with ridges using the left arm, then shake.", + "Pick up the yellow capped drink bottle and shake it.", + "Shake the yellow capped drink bottle after grabbing it.", + "Grab the plastic bottle with colorful label with the left arm and shake.", + "Grab the smooth black bottle with ridges carefully and shake.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Use the left arm to grab the black bottle and shake it.", + "Grip the drink bottle with rounded yellow lid using the left arm and shake.", + "Pick the smooth black bottle with ridges up with the left arm and shake." + ], + "unseen": [ + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode41.json b/shake_bottle/ur5_clean_50/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..6a8276d9abd07e74a14a1f8ee09ffc33722cf1bb --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the brown bottle with green screw-on cap carefully and shake.", + "Grab the small brown plastic bottle firmly, shake it, and put it down.", + "Pick up the small drink bottle with logo and shake it.", + "Grip the brown bottle using the right arm and shake.", + "Shake the smooth plastic bottle for beverages thoroughly after grabbing it.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Use the right arm to grab the hand-sized bottle with grooves and shake properly.", + "Hold and shake the the hand-sized bottle with grooves carefully.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Grab the small brown plastic bottle and shake it steadily.", + "Hold the hand-sized bottle with grooves with the right arm and shake lightly.", + "Lift the bottle with tapered cylindrical shape with the right arm and shake it.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Shake the the bottle with green cap properly after lifting.", + "Grab the hand-sized bottle with grooves using the right arm, then shake.", + "With the right arm, pick the brown bottle with green screw-on cap and shake properly.", + "Pick the small drink bottle with logo and perform shaking motion.", + "Pick up the green-capped bottle and shake it well.", + "Pick the hand-sized bottle with grooves up with the right arm and shake.", + "Lift the bottle with tapered cylindrical shape with the right arm and shake.", + "Pick the smooth plastic bottle for beverages, shake it with the right arm.", + "Use the right arm to grab the brown bottle with white printed label and shake it.", + "Lift the brown bottle with white printed label and shake it gently.", + "Hold the green-capped bottle, shake it briefly.", + "Shake the cylindrical bottle with white label after lifting it.", + "Take the green-capped bottle using the right arm and give it a shake.", + "Shake the bottle with green cap using the right arm after grabbing.", + "Secure the brown bottle, shake it, and place it down.", + "Catch the brown bottle with white printed label and shake it instantly.", + "Utilize the right arm to hold the brown bottle with green screw-on cap and shake it.", + "Shake the green-capped bottle after holding it firmly.", + "Hold the green-capped bottle and shake it properly.", + "Secure the brown bottle with white printed label and perform a shake.", + "Lift up the small brown plastic bottle using the right arm, then shake.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Shake the green-capped bottle firmly after grabbing.", + "Pick the brown bottle up using the right arm and shake it.", + "Shake the green-capped bottle after grabbing it.", + "Grab the smooth plastic bottle for beverages and move it to shake.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Grasp the bottle with green cap with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Hold the plastic bottle with ribbed pattern steady, then shake it.", + "Lift the smooth plastic bottle for beverages and shake it thoroughly.", + "Grab the hand-sized bottle with grooves with the right arm and shake.", + "Use the right arm to pick and shake the cylindrical bottle with white label.", + "Using the right arm, shake the brown bottle and then place it back.", + "Grab the brown bottle with white printed label and give it a shake.", + "Lift the brown bottle with the right arm and give it a shake.", + "Grab and shake the bottle with green cap using the right arm.", + "Grab the small brown plastic bottle carefully and shake.", + "Grab the smooth plastic bottle for beverages firmly, shake it, and put it down.", + "Pick up the brown bottle with green screw-on cap and shake it.", + "Grip the cylindrical bottle with white label using the right arm and shake.", + "Shake the hand-sized bottle with grooves thoroughly after grabbing it.", + "Shake the green-capped bottle after grabbing it.", + "Use the right arm to grab the brown bottle with green screw-on cap and shake properly.", + "Hold and shake the the bottle with green cap carefully.", + "Use the right arm to lift and shake the green-capped bottle.", + "Grab the brown bottle with green screw-on cap and shake it steadily.", + "Hold the green-capped bottle with the right arm and shake lightly.", + "Lift the smooth plastic bottle for beverages with the right arm and shake it.", + "Use the right arm to hold the hand-sized bottle with grooves and shake it.", + "Shake the the hand-sized bottle with grooves properly after lifting.", + "Grab the small brown plastic bottle using the right arm, then shake.", + "With the right arm, pick the cylindrical bottle with white label and shake properly.", + "Pick the green-capped bottle and perform shaking motion.", + "Pick up the bottle with green cap and shake it well.", + "Pick the brown bottle with green screw-on cap up with the right arm and shake.", + "Lift the green-capped bottle with the right arm and shake.", + "Pick the green-capped bottle, shake it with the right arm.", + "Use the right arm to grab the cylindrical bottle with white label and shake it.", + "Lift the brown bottle with green screw-on cap and shake it gently.", + "Hold the bottle with tapered cylindrical shape, shake it briefly.", + "Shake the bottle with green cap after lifting it.", + "Take the plastic bottle with ribbed pattern using the right arm and give it a shake.", + "Shake the bottle with tapered cylindrical shape using the right arm after grabbing.", + "Secure the brown bottle, shake it, and place it down.", + "Catch the green-capped bottle and shake it instantly.", + "Utilize the right arm to hold the cylindrical bottle with white label and shake it.", + "Shake the green-capped bottle after holding it firmly.", + "Hold the bottle with green cap and shake it properly.", + "Secure the brown bottle with green screw-on cap and perform a shake.", + "Lift up the plastic bottle with ribbed pattern using the right arm, then shake.", + "Shake the brown bottle with white printed label after grabbing it.", + "Shake the bottle with tapered cylindrical shape firmly after grabbing.", + "Pick the smooth plastic bottle for beverages up using the right arm and shake it.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Grab the cylindrical bottle with white label and move it to shake.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Grasp the brown bottle with white printed label with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Hold the bottle with green cap steady, then shake it.", + "Lift the brown bottle with white printed label and shake it thoroughly.", + "Grab the brown bottle with white printed label with the right arm and shake.", + "Use the right arm to pick and shake the hand-sized bottle with grooves.", + "Using the right arm, shake the cylindrical bottle with white label and then place it back.", + "Grab the brown bottle with white printed label and give it a shake.", + "Lift the bottle with green cap with the right arm and give it a shake.", + "Grab and shake the brown bottle with white printed label using the right arm." + ], + "unseen": [ + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with coffee-colored body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode42.json b/shake_bottle/ur5_clean_50/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..a496120bd9c994b0277f829d9b87fa2423f014ba --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the black cylindrical bottle with ridges carefully.", + "Use the right arm to lift and shake the plastic bottle with colorful label.", + "Grab the smooth black bottle with ridges firmly, shake it, and put it down.", + "Use the right arm to lift and shake the yellow-capped cylindrical bottle.", + "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.", + "Grab and shake the black bottle using the right arm.", + "Use the right arm to grab the drink bottle with rounded yellow lid and shake it.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Take the medium black bottle with printed label using the right arm and give it a shake.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Secure the black plastic bottle with Pepsi logo and perform a shake.", + "Lift up the medium black bottle with printed label using the right arm, then shake.", + "Shake the black bottle after grabbing it.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Pick up the beverage bottle with black body and shake it.", + "With the right arm, pick the plastic bottle with colorful label and shake properly.", + "Pick the black bottle and perform shaking motion.", + "Grab the medium black bottle with printed label carefully and shake.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Shake the yellow-capped cylindrical bottle using the right arm after grabbing.", + "Shake the medium black bottle with printed label firmly after grabbing.", + "Use the right arm to grab the smooth black bottle with ridges and shake properly.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Grip the yellow-capped cylindrical bottle using the right arm and shake.", + "Use the right arm to hold the beverage bottle with black body and shake it.", + "Using the right arm, shake the smooth black bottle with ridges and then place it back.", + "Catch the black bottle and shake it instantly.", + "Hold the black cylindrical bottle with ridges, shake it briefly.", + "Grab the yellow capped drink bottle and move it to shake.", + "Shake the plastic bottle with colorful label thoroughly after grabbing it.", + "Grab the plastic bottle with colorful label with the right arm and shake.", + "Use the right arm to pick and shake the medium black bottle with printed label.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Lift the black plastic bottle with Pepsi logo with the right arm and give it a shake.", + "Grab the yellow-capped cylindrical bottle using the right arm, then shake.", + "Grasp the yellow-capped cylindrical bottle with the right arm and shake it.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Pick the yellow-capped cylindrical bottle, shake it with the right arm.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Shake the medium bottle with yellow cap after lifting it.", + "Secure the black bottle, shake it, and place it down.", + "Pick the yellow capped drink bottle up using the right arm and shake it.", + "Utilize the right arm to hold the black bottle and shake it.", + "Lift the yellow-capped cylindrical bottle and shake it gently.", + "Lift the black plastic bottle with Pepsi logo with the right arm and shake.", + "Pick the medium bottle with yellow cap up with the right arm and shake.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Lift the yellow capped drink bottle with the right arm and shake it.", + "Shake the beverage bottle with black body after holding it firmly.", + "Hold and shake the the black bottle carefully.", + "Use the right arm to lift and shake the bottle with blue and yellow print.", + "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.", + "Use the right arm to lift and shake the plastic bottle with colorful label.", + "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.", + "Grab and shake the black plastic bottle with Pepsi logo using the right arm.", + "Use the right arm to grab the yellow capped drink bottle and shake it.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.", + "Hold the black bottle and shake it properly.", + "Secure the beverage bottle with black body and perform a shake.", + "Lift up the black bottle using the right arm, then shake.", + "Shake the yellow capped drink bottle after grabbing it.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Pick up the yellow-capped cylindrical bottle and shake it.", + "With the right arm, pick the black plastic bottle with Pepsi logo and shake properly.", + "Pick the drink bottle with rounded yellow lid and perform shaking motion.", + "Grab the plastic bottle with colorful label carefully and shake.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Shake the medium bottle with yellow cap using the right arm after grabbing.", + "Shake the medium bottle with yellow cap firmly after grabbing.", + "Use the right arm to grab the yellow-capped cylindrical bottle and shake properly.", + "Shake the the medium bottle with yellow cap properly after lifting.", + "Grip the drink bottle with rounded yellow lid using the right arm and shake.", + "Use the right arm to hold the yellow-capped cylindrical bottle and shake it.", + "Using the right arm, shake the yellow capped drink bottle and then place it back.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Hold the beverage bottle with black body, shake it briefly.", + "Grab the black plastic bottle with Pepsi logo and move it to shake.", + "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.", + "Grab the yellow capped drink bottle with the right arm and shake.", + "Use the right arm to pick and shake the medium black bottle with printed label.", + "Pick up the bottle with blue and yellow print and shake it well.", + "Lift the beverage bottle with black body with the right arm and give it a shake.", + "Grab the black bottle using the right arm, then shake.", + "Grasp the medium bottle with yellow cap with the right arm and shake it.", + "Grab the bottle with blue and yellow print and shake it steadily.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Pick the medium black bottle with printed label, shake it with the right arm.", + "Hold the black cylindrical bottle with ridges steady, then shake it.", + "Shake the black cylindrical bottle with ridges after lifting it.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Pick the smooth black bottle with ridges up using the right arm and shake it.", + "Utilize the right arm to hold the smooth black bottle with ridges and shake it.", + "Lift the plastic bottle with colorful label and shake it gently.", + "Lift the black bottle with the right arm and shake.", + "Pick the drink bottle with rounded yellow lid up with the right arm and shake.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Lift the drink bottle with rounded yellow lid with the right arm and shake it.", + "Shake the bottle with blue and yellow print after holding it firmly." + ], + "unseen": [ + "Use the right arm to pick the bottle with ridges near base.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode43.json b/shake_bottle/ur5_clean_50/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..8775a0725cb5ad430ee0cd342944186cfc85d748 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the white bottle with blue accents using the right arm after grabbing.", + "Use the right arm to grab the cylindrical bottle and shake it.", + "Shake the the bottle for liquids properly after lifting.", + "Use the right arm to grab the bottle with blue cap and shake properly.", + "Catch the bottle with blue cap and shake it instantly.", + "Shake the cylindrical bottle after grabbing it.", + "Shake the cylindrical bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Use the right arm to pick and shake the white bottle with blue accents.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Grab the medium-sized bottle and move it to shake.", + "Shake the cylindrical bottle after lifting it.", + "Grasp the bottle with blue cap with the right arm and shake it.", + "Secure the bottle for liquids, shake it, and place it down.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Pick the blue bottle and perform shaking motion.", + "Pick up the medium bottle for beverages and shake it.", + "Grab the smooth plastic bottle and give it a shake.", + "Shake the cylindrical bottle after grabbing it.", + "Hold the white and blue bottle steady, then shake it.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Grab the white bottle with blue accents carefully and shake.", + "Grab and shake the white and blue bottle using the right arm.", + "Use the right arm to hold the blue bottle and shake it.", + "Hold the blue bottle with label and shake it properly.", + "Secure the plastic bottle and perform a shake.", + "Pick the medium bottle for beverages up using the right arm and shake it.", + "Hold the white bottle with blue accents with the right arm and shake lightly.", + "Grab the blue bottle with label with the right arm and shake.", + "Hold the bottle for liquids, shake it briefly.", + "Pick up the cylindrical bottle and shake it well.", + "Use the right arm to lift and shake the white and blue bottle.", + "Lift the white and blue bottle and shake it gently.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Hold and shake the the handheld bottle carefully.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "With the right arm, pick the medium bottle for beverages and shake properly.", + "Take the blue bottle using the right arm and give it a shake.", + "Using the right arm, shake the white and blue bottle and then place it back.", + "Lift the blue bottle with the right arm and shake.", + "Pick the bottle for liquids, shake it with the right arm.", + "Shake the blue bottle after holding it firmly.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Pick the cylindrical bottle up with the right arm and shake.", + "Grab the white and blue bottle and shake it steadily.", + "Grip the blue bottle using the right arm and shake.", + "Utilize the right arm to hold the white and blue bottle and shake it.", + "Shake the white bottle with blue accents after grabbing it.", + "Lift the white and blue bottle with the right arm and shake it.", + "Lift up the medium bottle for beverages using the right arm, then shake.", + "Shake the blue bottle with label using the right arm after grabbing.", + "Use the right arm to grab the white and blue bottle and shake it.", + "Shake the the bottle with blue cap properly after lifting.", + "Use the right arm to grab the blue bottle and shake properly.", + "Catch the medium bottle for beverages and shake it instantly.", + "Shake the white and blue bottle after grabbing it.", + "Shake the white bottle with blue accents firmly after grabbing.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Use the right arm to pick and shake the handheld bottle.", + "Use the right arm to lift and shake the blue bottle.", + "Grab the white bottle with blue accents and move it to shake.", + "Shake the handheld bottle after lifting it.", + "Grasp the medium bottle for beverages with the right arm and shake it.", + "Secure the cylindrical bottle, shake it, and place it down.", + "Grab the white and blue bottle using the right arm, then shake.", + "Pick the blue bottle with label and perform shaking motion.", + "Pick up the bottle with blue cap and shake it.", + "Grab the blue bottle with label and give it a shake.", + "Shake the bottle for liquids after grabbing it.", + "Hold the cylindrical bottle steady, then shake it.", + "Shake the bottle with blue cap thoroughly after grabbing it.", + "Grab the white and blue bottle carefully and shake.", + "Grab and shake the white and blue bottle using the right arm.", + "Use the right arm to hold the cylindrical bottle and shake it.", + "Hold the smooth plastic bottle and shake it properly.", + "Secure the bottle for liquids and perform a shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Hold the handheld bottle with the right arm and shake lightly.", + "Grab the medium-sized bottle with the right arm and shake.", + "Hold the white bottle with blue accents, shake it briefly.", + "Pick up the medium-sized bottle and shake it well.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Lift the smooth plastic bottle and shake it gently.", + "Lift the white and blue bottle and shake it thoroughly.", + "Hold and shake the the blue bottle carefully.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Take the bottle with blue cap using the right arm and give it a shake.", + "Using the right arm, shake the blue bottle with label and then place it back.", + "Lift the plastic bottle with the right arm and shake.", + "Pick the white and blue bottle, shake it with the right arm.", + "Shake the handheld bottle after holding it firmly.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Pick the plastic bottle up with the right arm and shake.", + "Grab the white and blue bottle and shake it steadily.", + "Grip the bottle for liquids using the right arm and shake.", + "Utilize the right arm to hold the white and blue bottle and shake it.", + "Shake the medium bottle for beverages after grabbing it.", + "Lift the blue bottle with label with the right arm and shake it.", + "Lift up the cylindrical bottle using the right arm, then shake." + ], + "unseen": [ + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the blue-capped plastic bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode44.json b/shake_bottle/ur5_clean_50/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..70ec4a4c42338adc8598dac1ba2e72f5790aa59a --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rectangular brown body with white top and shake it steadily.", + "Grab the brown bottle carefully and shake.", + "Lift the plastic bottle with the left arm and shake.", + "Pick up the rectangular brown body with white top and shake it well.", + "Hold the medium-sized brown plastic bottle with the left arm and shake lightly.", + "Using the left arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Secure the bottle with green cap, shake it, and place it down.", + "Lift the smooth plastic bottle with white cap and shake it gently.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Grab the brown bottle with rounded rectangular shape with the left arm and shake.", + "Hold the smooth plastic bottle with white cap, shake it briefly.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the medium-sized brown plastic bottle and move it to shake.", + "Shake the bottle with green cap after grabbing it.", + "Use the left arm to pick and shake the medium bottle with glossy surface.", + "Hold and shake the the medium bottle with glossy surface carefully.", + "Use the left arm to hold the brown bottle and shake it.", + "Grasp the medium-sized brown plastic bottle with the left arm and shake it.", + "Take the smooth brown bottle with green label using the left arm and give it a shake.", + "Lift the smooth brown bottle with green label with the left arm and give it a shake.", + "Pick the brown bottle, shake it with the left arm.", + "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Lift up the bottle with green cap using the left arm, then shake.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Use the left arm to grab the brown bottle with rounded rectangular shape and shake it.", + "Shake the bottle with green cap after grabbing it.", + "Lift the rectangular brown body with white top and shake it thoroughly.", + "Shake the the brown bottle properly after lifting.", + "Grab the brown bottle with rounded rectangular shape and give it a shake.", + "Grip the bottle with green cap using the left arm and shake.", + "With the left arm, pick the rectangular brown body with white top and shake properly.", + "Grab and shake the smooth brown bottle with green label using the left arm.", + "Pick up the dark brown bottle with a squared body and shake it.", + "Utilize the left arm to hold the medium bottle with glossy surface and shake it.", + "Shake the brown bottle after holding it firmly.", + "Pick the medium-sized brown plastic bottle up with the left arm and shake.", + "Shake the medium-sized brown plastic bottle using the left arm after grabbing.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Pick the bottle with green cap up using the left arm and shake it.", + "Hold the bottle with flat sides and logo steady, then shake it.", + "Shake the brown bottle firmly after grabbing.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Catch the dark brown bottle with a squared body and shake it instantly.", + "Lift the rectangular brown body with white top with the left arm and shake it.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Pick the smooth brown bottle with green label and perform shaking motion.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Grab the smooth plastic bottle with white cap and shake it steadily.", + "Grab the rectangular brown body with white top carefully and shake.", + "Lift the smooth plastic bottle with white cap with the left arm and shake.", + "Pick up the medium-sized brown plastic bottle and shake it well.", + "Hold the medium bottle with glossy surface with the left arm and shake lightly.", + "Using the left arm, shake the smooth plastic bottle with white cap and then place it back.", + "Secure the dark brown bottle with a squared body, shake it, and place it down.", + "Lift the medium-sized brown plastic bottle and shake it gently.", + "Secure the rectangular brown body with white top and perform a shake.", + "Grab the plastic bottle with the left arm and shake.", + "Hold the rectangular brown body with white top, shake it briefly.", + "Grab the brown bottle using the left arm, then shake.", + "Grab the smooth plastic bottle with white cap and move it to shake.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Use the left arm to pick and shake the bottle with flat sides and logo.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Use the left arm to hold the bottle with flat sides and logo and shake it.", + "Grasp the rectangular brown body with white top with the left arm and shake it.", + "Take the bottle with green cap using the left arm and give it a shake.", + "Lift the medium bottle with glossy surface with the left arm and give it a shake.", + "Pick the medium bottle with glossy surface, shake it with the left arm.", + "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake properly.", + "Lift up the bottle with flat sides and logo using the left arm, then shake.", + "Shake the medium bottle with glossy surface after lifting it.", + "Use the left arm to lift and shake the medium bottle with glossy surface.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake it.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Lift the bottle with flat sides and logo and shake it thoroughly.", + "Shake the the bottle with flat sides and logo properly after lifting.", + "Grab the rectangular brown body with white top and give it a shake.", + "Grip the smooth plastic bottle with white cap using the left arm and shake.", + "With the left arm, pick the medium-sized brown plastic bottle and shake properly.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Pick up the bottle with green cap and shake it.", + "Utilize the left arm to hold the medium-sized brown plastic bottle and shake it.", + "Shake the bottle with flat sides and logo after holding it firmly.", + "Pick the rectangular-shaped bottle with round cap up with the left arm and shake.", + "Shake the rectangular brown body with white top using the left arm after grabbing.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Pick the medium-sized brown plastic bottle up using the left arm and shake it.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Shake the rectangular brown body with white top firmly after grabbing.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Lift the medium-sized brown plastic bottle with the left arm and shake it.", + "Hold the smooth brown bottle with green label and shake it properly.", + "Pick the rectangular-shaped bottle with round cap and perform shaking motion.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle." + ], + "unseen": [ + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode45.json b/shake_bottle/ur5_clean_50/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..a728e9ba8b9b04031f481979a6bc53d35f48ffc9 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the curved orange soda bottle after grabbing it.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Hold the orange bottle steady, then shake it.", + "Lift the smooth orange bottle with the left arm and give it a shake.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Shake the smooth orange bottle after grabbing it.", + "Grab the grooved orange drink bottle and give it a shake.", + "Using the left arm, shake the curved orange soda bottle and then place it back.", + "Grip the orange drink bottle with label using the left arm and shake.", + "Grab the light and medium-sized bottle with the left arm and shake.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Pick up the cylindrical orange plastic bottle and shake it well.", + "Secure the ridged orange bottle with grooves, shake it, and place it down.", + "Use the left arm to pick and shake the orange bottle.", + "Shake the bottle for holding drinks after holding it firmly.", + "Pick the ridged orange bottle with grooves, shake it with the left arm.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Take the ridged orange bottle with grooves using the left arm and give it a shake.", + "Shake the medium bottle with colorful label using the left arm after grabbing.", + "Pick up the smooth orange bottle and shake it.", + "Pick the ridged orange bottle with grooves up with the left arm and shake.", + "Lift up the medium bottle with colorful label using the left arm, then shake.", + "Grab the round-bottom bottle with white cap using the left arm, then shake.", + "Lift the medium bottle with colorful label and shake it gently.", + "Shake the light and medium-sized bottle firmly after grabbing.", + "Grab the medium bottle with colorful label and move it to shake.", + "Hold the bottle for holding drinks with the left arm and shake lightly.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Grab and shake the cylindrical orange plastic bottle using the left arm.", + "Grab the light and medium-sized bottle and shake it steadily.", + "Pick the curved orange soda bottle up using the left arm and shake it.", + "With the left arm, pick the bottle for holding drinks and shake properly.", + "Hold and shake the the smooth orange bottle carefully.", + "Lift the curved orange soda bottle and shake it thoroughly.", + "Hold the light and medium-sized bottle and shake it properly.", + "Secure the ridged orange bottle with grooves and perform a shake.", + "Hold the bottle for holding drinks, shake it briefly.", + "Lift the medium bottle with colorful label with the left arm and shake.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Lift the orange drink bottle with label with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to hold the bottle for holding drinks and shake it.", + "Grasp the grooved orange drink bottle with the left arm and shake it.", + "Grab the orange drink bottle with label carefully and shake.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Grab the light and medium-sized bottle firmly, shake it, and put it down.", + "Use the left arm to grab the plastic bottle and shake it.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Shake the orange drink bottle with label after grabbing it.", + "Hold the smooth orange bottle steady, then shake it.", + "Lift the medium bottle with colorful label with the left arm and give it a shake.", + "Pick the cylindrical orange plastic bottle and perform shaking motion.", + "Shake the curved orange soda bottle after grabbing it.", + "Grab the light and medium-sized bottle and give it a shake.", + "Using the left arm, shake the orange bottle and then place it back.", + "Grip the medium bottle with colorful label using the left arm and shake.", + "Grab the medium bottle with colorful label with the left arm and shake.", + "Catch the bottle for holding drinks and shake it instantly.", + "Pick up the bottle for holding drinks and shake it well.", + "Secure the curved orange soda bottle, shake it, and place it down.", + "Use the left arm to pick and shake the curved orange soda bottle.", + "Shake the medium bottle with colorful label after holding it firmly.", + "Pick the medium bottle with colorful label, shake it with the left arm.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Take the cylindrical orange plastic bottle using the left arm and give it a shake.", + "Shake the light and medium-sized bottle using the left arm after grabbing.", + "Pick up the light and medium-sized bottle and shake it.", + "Pick the cylindrical orange plastic bottle up with the left arm and shake.", + "Lift up the round-bottom bottle with white cap using the left arm, then shake.", + "Grab the smooth orange bottle using the left arm, then shake.", + "Lift the ridged orange bottle with grooves and shake it gently.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Grab the medium bottle with colorful label and move it to shake.", + "Hold the light and medium-sized bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the orange drink bottle with label and shake it.", + "Shake the cylindrical orange plastic bottle after lifting it.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Grab and shake the curved orange soda bottle using the left arm.", + "Grab the orange bottle and shake it steadily.", + "Pick the ridged orange bottle with grooves up using the left arm and shake it.", + "With the left arm, pick the round-bottom bottle with white cap and shake properly.", + "Hold and shake the the plastic bottle carefully.", + "Lift the cylindrical orange plastic bottle and shake it thoroughly.", + "Hold the smooth orange bottle and shake it properly.", + "Secure the smooth orange bottle and perform a shake.", + "Hold the curved orange soda bottle, shake it briefly.", + "Lift the light and medium-sized bottle with the left arm and shake.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Lift the smooth orange bottle with the left arm and shake it.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Use the left arm to hold the light and medium-sized bottle and shake it.", + "Grasp the curved orange soda bottle with the left arm and shake it.", + "Grab the medium bottle with colorful label carefully and shake.", + "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Use the left arm to grab the curved orange soda bottle and shake it." + ], + "unseen": [ + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode46.json b/shake_bottle/ur5_clean_50/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..eb17560272919dbeaf97d29b6f5df3249bf13fdb --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cylindrical bottle and shake it steadily.", + "Shake the plastic bottle after holding it firmly.", + "Catch the plastic bottle and shake it instantly.", + "Hold and shake the the smooth plastic bottle carefully.", + "Pick up the plastic bottle and shake it.", + "Grab the cylindrical bottle using the right arm, then shake.", + "Using the right arm, shake the bottle for liquids and then place it back.", + "Lift the medium-sized bottle with the right arm and shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the medium-sized bottle with the right arm and give it a shake.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the medium bottle for beverages with the right arm and shake it.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Grab the blue bottle with the right arm and shake.", + "Shake the medium-sized bottle after lifting it.", + "Hold the plastic bottle and shake it properly.", + "Hold the bottle with blue cap with the right arm and shake lightly.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Grip the medium-sized bottle using the right arm and shake.", + "Grab the medium bottle for beverages carefully and shake.", + "Pick the white and blue bottle, shake it with the right arm.", + "Shake the white and blue bottle after grabbing it.", + "Use the right arm to grab the blue bottle and shake it.", + "Pick up the blue bottle with label and shake it well.", + "Hold the blue bottle, shake it briefly.", + "Use the right arm to grab the blue bottle with label and shake properly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Secure the white and blue bottle and perform a shake.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Pick the blue bottle up with the right arm and shake.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Hold the handheld bottle steady, then shake it.", + "Shake the cylindrical bottle using the right arm after grabbing.", + "Lift the white and blue bottle and shake it gently.", + "Grab the white and blue bottle and give it a shake.", + "Pick the blue bottle with label up using the right arm and shake it.", + "Use the right arm to pick and shake the bottle for liquids.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Lift the bottle for liquids and shake it thoroughly.", + "Shake the bottle for liquids after grabbing it.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Grab and shake the bottle for liquids using the right arm.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Grab the medium bottle for beverages and move it to shake.", + "Shake the smooth plastic bottle after grabbing it.", + "With the right arm, pick the handheld bottle and shake properly.", + "Grab the white and blue bottle and shake it steadily.", + "Shake the blue bottle with label after holding it firmly.", + "Catch the white bottle with blue accents and shake it instantly.", + "Hold and shake the the handheld bottle carefully.", + "Pick up the bottle with blue cap and shake it.", + "Grab the blue bottle using the right arm, then shake.", + "Using the right arm, shake the bottle with blue cap and then place it back.", + "Lift the blue bottle with the right arm and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Lift the blue bottle with the right arm and give it a shake.", + "Shake the medium-sized bottle firmly after grabbing.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Secure the bottle with blue cap, shake it, and place it down.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Shake the bottle for liquids after lifting it.", + "Hold the blue bottle with label and shake it properly.", + "Hold the blue bottle with label with the right arm and shake lightly.", + "Grab the medium-sized bottle firmly, shake it, and put it down.", + "Lift up the cylindrical bottle using the right arm, then shake.", + "Shake the white and blue bottle thoroughly after grabbing it.", + "Shake the the bottle with blue cap properly after lifting.", + "Grip the medium bottle for beverages using the right arm and shake.", + "Grab the smooth plastic bottle carefully and shake.", + "Pick the white and blue bottle, shake it with the right arm.", + "Shake the white and blue bottle after grabbing it.", + "Use the right arm to grab the blue bottle with label and shake it.", + "Pick up the smooth plastic bottle and shake it well.", + "Hold the bottle with blue cap, shake it briefly.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Secure the plastic bottle and perform a shake.", + "Take the medium-sized bottle using the right arm and give it a shake.", + "Pick the blue bottle with label up with the right arm and shake.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Hold the cylindrical bottle steady, then shake it.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Lift the white bottle with blue accents and shake it gently.", + "Grab the medium bottle for beverages and give it a shake.", + "Pick the handheld bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the white bottle with blue accents.", + "Use the right arm to hold the medium-sized bottle and shake it.", + "Lift the white and blue bottle and shake it thoroughly.", + "Shake the blue bottle after grabbing it.", + "Grasp the white bottle with blue accents with the right arm and shake it.", + "Grab and shake the medium bottle for beverages using the right arm.", + "Pick the blue bottle with label and perform shaking motion.", + "Grab the white bottle with blue accents and move it to shake.", + "Shake the handheld bottle after grabbing it.", + "With the right arm, pick the medium bottle for beverages and shake properly." + ], + "unseen": [ + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Grab the bottle with curved neck design and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode47.json b/shake_bottle/ur5_clean_50/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..d251647485cffacca3621ed78598c8e5bbb7bede --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the plastic bottle with colorful label using the left arm, then shake.", + "Shake the drink bottle with rounded yellow lid after holding it firmly.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Use the left arm to hold the bottle with blue and yellow print and shake it.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Catch the yellow capped drink bottle and shake it instantly.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Grasp the black cylindrical bottle with ridges with the left arm and shake it.", + "Hold and shake the the medium black bottle with printed label carefully.", + "With the left arm, pick the drink bottle with rounded yellow lid and shake properly.", + "Pick the black cylindrical bottle with ridges up using the left arm and shake it.", + "Using the left arm, shake the smooth black bottle with ridges and then place it back.", + "Pick up the yellow capped drink bottle and shake it.", + "Hold the yellow capped drink bottle steady, then shake it.", + "Grab the yellow capped drink bottle and move it to shake.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Secure the plastic bottle with colorful label, shake it, and place it down.", + "Utilize the left arm to hold the bottle with blue and yellow print and shake it.", + "Grab the yellow capped drink bottle and give it a shake.", + "Grab the black plastic bottle with Pepsi logo using the left arm, then shake.", + "Use the left arm to lift and shake the medium bottle with yellow cap.", + "Shake the bottle with blue and yellow print using the left arm after grabbing.", + "Pick the medium black bottle with printed label and perform shaking motion.", + "Secure the black plastic bottle with Pepsi logo and perform a shake.", + "Shake the medium black bottle with printed label after grabbing it.", + "Use the left arm to grab the yellow capped drink bottle and shake properly.", + "Shake the medium bottle with yellow cap after lifting it.", + "Hold the black bottle with the left arm and shake lightly.", + "Lift the yellow-capped cylindrical bottle with the left arm and shake it.", + "Lift the plastic bottle with colorful label with the left arm and give it a shake.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Pick the black cylindrical bottle with ridges up with the left arm and shake.", + "Pick up the bottle with blue and yellow print and shake it well.", + "Use the left arm to grab the black plastic bottle with Pepsi logo and shake it.", + "Take the yellow-capped cylindrical bottle using the left arm and give it a shake.", + "Pick the smooth black bottle with ridges, shake it with the left arm.", + "Grab and shake the drink bottle with rounded yellow lid using the left arm.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Shake the the drink bottle with rounded yellow lid properly after lifting.", + "Grab the drink bottle with rounded yellow lid with the left arm and shake.", + "Lift the drink bottle with rounded yellow lid with the left arm and shake.", + "Grab the plastic bottle with colorful label carefully and shake.", + "Grab the medium bottle with yellow cap and shake it steadily.", + "Grip the plastic bottle with colorful label using the left arm and shake.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.", + "Lift the bottle with blue and yellow print and shake it gently.", + "Shake the bottle with blue and yellow print firmly after grabbing.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Use the left arm to pick and shake the smooth black bottle with ridges.", + "Lift up the black bottle using the left arm, then shake.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "Lift the black cylindrical bottle with ridges and shake it thoroughly.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Grasp the black plastic bottle with Pepsi logo with the left arm and shake it.", + "Hold and shake the the yellow-capped cylindrical bottle carefully.", + "With the left arm, pick the medium black bottle with printed label and shake properly.", + "Pick the black plastic bottle with Pepsi logo up using the left arm and shake it.", + "Using the left arm, shake the yellow-capped cylindrical bottle and then place it back.", + "Pick up the yellow-capped cylindrical bottle and shake it.", + "Hold the medium black bottle with printed label steady, then shake it.", + "Grab the plastic bottle with colorful label and move it to shake.", + "Use the left arm to lift and shake the black cylindrical bottle with ridges.", + "Secure the smooth black bottle with ridges, shake it, and place it down.", + "Utilize the left arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Grab the medium bottle with yellow cap and give it a shake.", + "Grab the bottle with blue and yellow print using the left arm, then shake.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Shake the black cylindrical bottle with ridges using the left arm after grabbing.", + "Pick the black plastic bottle with Pepsi logo and perform shaking motion.", + "Secure the yellow capped drink bottle and perform a shake.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Use the left arm to grab the black plastic bottle with Pepsi logo and shake properly.", + "Shake the medium black bottle with printed label after lifting it.", + "Hold the drink bottle with rounded yellow lid with the left arm and shake lightly.", + "Lift the smooth black bottle with ridges with the left arm and shake it.", + "Lift the plastic bottle with colorful label with the left arm and give it a shake.", + "Hold the yellow-capped cylindrical bottle and shake it properly.", + "Pick the bottle with blue and yellow print up with the left arm and shake.", + "Pick up the black plastic bottle with Pepsi logo and shake it well.", + "Use the left arm to grab the smooth black bottle with ridges and shake it.", + "Take the medium black bottle with printed label using the left arm and give it a shake.", + "Pick the medium bottle with yellow cap, shake it with the left arm.", + "Grab and shake the smooth black bottle with ridges using the left arm.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Shake the the medium bottle with yellow cap properly after lifting.", + "Grab the plastic bottle with colorful label with the left arm and shake.", + "Lift the bottle with blue and yellow print with the left arm and shake.", + "Grab the black bottle carefully and shake.", + "Grab the yellow capped drink bottle and shake it steadily.", + "Grip the yellow-capped cylindrical bottle using the left arm and shake.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Shake the black bottle thoroughly after grabbing it.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Shake the yellow-capped cylindrical bottle firmly after grabbing.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Use the left arm to pick and shake the smooth black bottle with ridges." + ], + "unseen": [ + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the bottle with ridges near base and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode48.json b/shake_bottle/ur5_clean_50/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..ad8d39028e05046dfe91ae571670869df755440c --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the plastic bottle for liquids firmly after grabbing.", + "Secure the bottle with white cap and perform a shake.", + "Utilize the right arm to hold the rounded bottle with printed details and shake it.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Grab the medium plastic bottle carefully and shake.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift the rounded bottle with printed details with the right arm and shake.", + "Lift the cylindrical bottle with narrow neck and shake it thoroughly.", + "Lift the rounded bottle with printed details with the right arm and shake it.", + "Grab the handheld brown bottle with white lid with the right arm and shake.", + "Shake the white-capped brown cylindrical bottle after lifting it.", + "Shake the plastic bottle with printed label after grabbing it.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Use the right arm to grab the plastic bottle with printed label and shake properly.", + "Using the right arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Pick the bottle with brown body and white top up with the right arm and shake.", + "Grab the plastic bottle with printed label using the right arm, then shake.", + "Use the right arm to pick and shake the medium bottle with smooth texture.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Take the plastic bottle for liquids using the right arm and give it a shake.", + "Hold the plastic bottle with printed label with the right arm and shake lightly.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Pick up the white-capped brown cylindrical bottle and shake it.", + "Use the right arm to grab the bottle with dark brown color and shake it.", + "Shake the plastic bottle with printed label after grabbing it.", + "Lift up the plastic bottle with printed label using the right arm, then shake.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Use the right arm to lift and shake the bottle with white cap.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Pick the white-capped brown cylindrical bottle, shake it with the right arm.", + "Grasp the plastic bottle for liquids with the right arm and shake it.", + "Grab the smooth brown bottle and move it to shake.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to hold the rounded bottle with printed details and shake it.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Lift the bottle with white cap and shake it gently.", + "Shake the handheld brown bottle with white lid using the right arm after grabbing.", + "Grip the medium plastic bottle using the right arm and shake.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Grab and shake the rounded bottle with printed details using the right arm.", + "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "With the right arm, pick the bottle with brown body and white top and shake properly.", + "Pick the plastic bottle with printed label up using the right arm and shake it.", + "Shake the bottle with dark brown color after grabbing it.", + "Shake the white-capped brown cylindrical bottle firmly after grabbing.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Utilize the right arm to hold the handheld brown bottle with white lid and shake it.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Grab the bottle with white cap carefully and shake.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Lift the handheld brown bottle with white lid with the right arm and shake it.", + "Grab the bottle with white cap with the right arm and shake.", + "Shake the plastic bottle for liquids after lifting it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Shake the handheld brown bottle with white lid thoroughly after grabbing it.", + "Use the right arm to grab the medium plastic bottle and shake properly.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Hold the bottle with white cap and shake it properly.", + "Pick the rounded bottle with printed details up with the right arm and shake.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Use the right arm to pick and shake the medium bottle with smooth texture.", + "Pick up the medium plastic bottle and shake it well.", + "Take the smooth brown bottle using the right arm and give it a shake.", + "Hold the medium plastic bottle with the right arm and shake lightly.", + "Catch the bottle with dark brown color and shake it instantly.", + "Pick up the smooth brown bottle and shake it.", + "Use the right arm to grab the plastic bottle for liquids and shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Lift up the white-capped brown cylindrical bottle using the right arm, then shake.", + "Grab the plastic bottle for liquids firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Pick the medium plastic bottle, shake it with the right arm.", + "Grasp the bottle with dark brown color with the right arm and shake it.", + "Grab the bottle with white cap and move it to shake.", + "Pick the smooth brown bottle and perform shaking motion.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the right arm to hold the smooth brown bottle and shake it.", + "Grab the bottle with brown body and white top and shake it steadily.", + "Lift the medium bottle with smooth texture and shake it gently.", + "Shake the bottle with dark brown color using the right arm after grabbing.", + "Grip the bottle with dark brown color using the right arm and shake.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "Shake the bottle with white cap after holding it firmly.", + "Grab and shake the rounded bottle with printed details using the right arm.", + "Lift the bottle with dark brown color with the right arm and give it a shake.", + "Shake the the rounded bottle with printed details properly after lifting.", + "With the right arm, pick the medium plastic bottle and shake properly.", + "Pick the bottle with dark brown color up using the right arm and shake it.", + "Shake the plastic bottle for liquids after grabbing it." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode49.json b/shake_bottle/ur5_clean_50/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a75e6f389fda228cea8ed7a8dfa18c123e0bf0 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the orange and white bottle with cap and then place it back.", + "Pick the orange bottle up using the right arm and shake it.", + "With the right arm, pick the medium bottle with orange lid and shake properly.", + "Hold and shake the the white and orange plastic bottle carefully.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the cylindrical orange and white bottle and shake properly.", + "Pick the yellow label bottle and perform shaking motion.", + "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.", + "Hold the medium bottle with orange lid and shake it properly.", + "Pick the drinking bottle with yellow label, shake it with the right arm.", + "Grip the orange bottle using the right arm and shake.", + "Use the right arm to grab the yellow label bottle and shake it.", + "Use the right arm to pick and shake the orange bottle.", + "Lift the medium orange bottle with the right arm and shake it.", + "Pick the yellow label bottle up with the right arm and shake.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Lift the white and orange plastic bottle with the right arm and give it a shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the orange bottle.", + "Use the right arm to hold the orange bottle and shake it.", + "Utilize the right arm to hold the medium bottle with orange lid and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Grasp the orange and white bottle with cap with the right arm and shake it.", + "Shake the the medium orange bottle properly after lifting.", + "Grab the orange bottle and give it a shake.", + "Shake the medium orange bottle after grabbing it.", + "Pick up the orange and white bottle with cap and shake it.", + "Grab the orange and white bottle with cap using the right arm, then shake.", + "Shake the medium bottle with orange lid after grabbing it.", + "Grab and shake the plastic bottle using the right arm.", + "Catch the medium orange bottle and shake it instantly.", + "Shake the bottle with orange cap after lifting it.", + "Secure the drinking bottle with yellow label, shake it, and place it down.", + "Pick up the medium bottle with orange lid and shake it well.", + "Grab the yellow label bottle carefully and shake.", + "Shake the bottle with orange cap after grabbing it.", + "Take the medium orange bottle using the right arm and give it a shake.", + "Lift the orange and white bottle with cap with the right arm and shake.", + "Lift up the bottle with ribbed orange bottom using the right arm, then shake.", + "Shake the medium orange bottle after holding it firmly.", + "Secure the white and orange plastic bottle and perform a shake.", + "Use the right arm to lift and shake the bottle with ribbed orange bottom.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Lift the drinking bottle with yellow label and shake it thoroughly.", + "Grab the medium orange bottle with the right arm and shake.", + "Grab the white and orange plastic bottle and shake it steadily.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Hold the medium bottle with orange lid, shake it briefly.", + "Lift the smooth plastic bottle and shake it gently.", + "Using the right arm, shake the smooth plastic bottle and then place it back.", + "Pick the medium bottle with orange lid up using the right arm and shake it.", + "With the right arm, pick the orange bottle and shake properly.", + "Hold and shake the the medium orange bottle carefully.", + "Shake the orange and white bottle with cap thoroughly after grabbing it.", + "Use the right arm to grab the yellow label bottle and shake properly.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Hold the orange bottle with the right arm and shake lightly.", + "Hold the orange bottle and shake it properly.", + "Pick the orange bottle, shake it with the right arm.", + "Grip the cylindrical orange and white bottle using the right arm and shake.", + "Use the right arm to grab the medium orange bottle and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Lift the cylindrical orange and white bottle with the right arm and shake it.", + "Pick the bottle with orange cap up with the right arm and shake.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Lift the orange bottle with the right arm and give it a shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the bottle with orange cap.", + "Use the right arm to hold the bottle with ribbed orange bottom and shake it.", + "Utilize the right arm to hold the white and orange plastic bottle and shake it.", + "Hold the cylindrical orange and white bottle steady, then shake it.", + "Grasp the cylindrical orange and white bottle with the right arm and shake it.", + "Shake the the white and orange plastic bottle properly after lifting.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the orange bottle after grabbing it.", + "Pick up the bottle with ribbed orange bottom and shake it.", + "Grab the cylindrical orange and white bottle using the right arm, then shake.", + "Shake the white and orange plastic bottle after grabbing it.", + "Grab and shake the cylindrical orange and white bottle using the right arm.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Shake the bottle with ribbed orange bottom after lifting it.", + "Secure the bottle with ribbed orange bottom, shake it, and place it down.", + "Pick up the orange bottle and shake it well.", + "Grab the white and orange plastic bottle carefully and shake.", + "Shake the plastic bottle after grabbing it.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Lift the cylindrical orange and white bottle with the right arm and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the plastic bottle after holding it firmly.", + "Secure the smooth plastic bottle and perform a shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the bottle with orange cap and move it to shake.", + "Lift the bottle with orange cap and shake it thoroughly.", + "Grab the white and orange plastic bottle with the right arm and shake.", + "Grab the drinking bottle with yellow label and shake it steadily.", + "Use the right arm to lift and shake the white and orange plastic bottle.", + "Shake the drinking bottle with yellow label firmly after grabbing.", + "Hold the bottle with orange cap, shake it briefly.", + "Lift the medium orange bottle and shake it gently." + ], + "unseen": [ + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to pick the bottle with curved body.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to pick the bottle with curved body.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to pick the bottle with curved body.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to pick the bottle with curved body.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to pick the bottle with curved body.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to pick the bottle with curved body." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode5.json b/shake_bottle/ur5_clean_50/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..622f5e8ba813a86604b2ea18c9abbf29c5486aea --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Pick the brown bottle with red label and perform shaking motion.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the dark drink bottle with logo after lifting it.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Grab the bottle with white neck and red top and move it to shake.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the the red-capped bottle properly after lifting.", + "Lift the long thin bottle with the right arm and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Hold and shake the the plastic drink bottle carefully.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Use the right arm to pick and shake the red-capped bottle.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Lift the smooth bottle with red lid and shake it gently.", + "Hold the hand-sized soda bottle and shake it properly.", + "Secure the red-capped bottle and perform a shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Pick the long thin bottle up using the right arm and shake it.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Grab the bottle with white neck and red top carefully and shake.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Pick up the smooth bottle with red lid and shake it.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Pick up the hand-sized soda bottle and shake it well.", + "Shake the brown bottle with red label after lifting it.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Use the right arm to grab the long thin bottle and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab the bottle with ridges on bottom and move it to shake.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Lift the dark drink bottle with logo and shake it gently.", + "Hold the hand-sized soda bottle and shake it properly.", + "Secure the red-capped bottle and perform a shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Grab the Coca-Cola bottle and give it a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Grab the brown bottle with red label carefully and shake.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Lift the long thin bottle with the right arm and shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Pick up the smooth bottle with red lid and shake it.", + "Lift the Coca-Cola bottle with the right arm and give it a shake." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode6.json b/shake_bottle/ur5_clean_50/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..4ec012f8f5c3943302a3b202b98e146e0311390f --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Use the right arm to pick and shake the bottle with green label.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Lift the yellow plastic bottle with white top with the right arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Pick the bottle with green label and perform shaking motion.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Use the right arm to grab the bottle with green label and shake properly.", + "With the right arm, pick the bottle with green and white labels and shake properly.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Hold the bottle with green label and shake it properly.", + "Hold the bottle with white cap with the right arm and shake lightly.", + "Lift the bottle with a smooth plastic body with the right arm and shake.", + "Hold the yellow plastic bottle with white top steady, then shake it.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Hold the yellow bottle, shake it briefly.", + "Pick the yellow plastic bottle with white top, shake it with the right arm.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Pick the yellow plastic bottle with white top up with the right arm and shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Grab the bottle with green label and move it to shake.", + "Grab the bottle with green label carefully and shake.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.", + "Shake the bottle with green label firmly after grabbing.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Grab the bottle with green and white labels and shake it steadily.", + "Use the right arm to lift and shake the bottle with green label.", + "Shake the yellow bottle with a green design using the right arm after grabbing.", + "Using the right arm, shake the bottle with green label and then place it back.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Use the right arm to lift and shake the bottle with green label.", + "Grab and shake the yellow container with rounded edges using the right arm.", + "Pick up the yellow bottle and shake it.", + "Lift up the yellow plastic bottle with white top using the right arm, then shake.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Grasp the medium rectangular yellow bottle with the right arm and shake it.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Grip the yellow bottle using the right arm and shake.", + "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Take the medium rectangular yellow bottle using the right arm and give it a shake.", + "Pick the bottle with green label up using the right arm and shake it.", + "Shake the the bottle with green and white labels properly after lifting.", + "Grab the bottle with green label using the right arm, then shake.", + "Lift the yellow container with rounded edges with the right arm and give it a shake.", + "Shake the yellow bottle with a green design after grabbing it.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Grab the bottle with white cap with the right arm and shake.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Use the right arm to pick and shake the yellow container with rounded edges.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Hold and shake the the bottle with green label carefully.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Utilize the right arm to hold the smooth bottle with rounded edges and shake it.", + "Use the right arm to grab the yellow container with rounded edges and shake properly.", + "With the right arm, pick the bottle with green and white labels and shake properly.", + "Secure the plastic bottle and perform a shake.", + "Hold the bottle with a smooth plastic body and shake it properly.", + "Hold the yellow plastic bottle with white top with the right arm and shake lightly.", + "Lift the plastic bottle with the right arm and shake.", + "Hold the yellow bottle steady, then shake it.", + "Shake the yellow bottle after grabbing it.", + "Hold the rectangular bottle with cylindrical neck, shake it briefly.", + "Pick the yellow container with rounded edges, shake it with the right arm.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Use the right arm to hold the yellow plastic bottle with white top and shake it.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle with white cap and move it to shake.", + "Grab the yellow bottle with a green design carefully and shake.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Secure the smooth bottle with rounded edges, shake it, and place it down.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Shake the medium rectangular yellow bottle using the right arm after grabbing.", + "Using the right arm, shake the bottle with green and white labels and then place it back.", + "Shake the smooth bottle with rounded edges after holding it firmly.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab and shake the bottle with green and white labels using the right arm.", + "Pick up the yellow bottle with a green design and shake it.", + "Lift up the yellow container with rounded edges using the right arm, then shake.", + "Pick up the bottle with white cap and shake it well.", + "Grasp the plastic bottle with the right arm and shake it.", + "Catch the yellow container with rounded edges and shake it instantly.", + "Grip the plastic bottle using the right arm and shake.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Use the right arm to grab the yellow plastic bottle with white top and shake it.", + "Take the bottle with green label using the right arm and give it a shake.", + "Pick the yellow plastic bottle with white top up using the right arm and shake it.", + "Shake the the bottle with a smooth plastic body properly after lifting.", + "Grab the medium rectangular yellow bottle using the right arm, then shake.", + "Lift the yellow container with rounded edges with the right arm and give it a shake.", + "Shake the bottle with white cap after grabbing it.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Grab the yellow bottle with the right arm and shake." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode7.json b/shake_bottle/ur5_clean_50/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..3e712a982e24262708205f386e6a62dbc867a4f3 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with ridges on bottom and shake it steadily.", + "Use the left arm to grab the long thin bottle and shake it.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the long thin bottle after lifting it.", + "Lift the long thin bottle and shake it thoroughly.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Pick up the smooth bottle with red lid and shake it.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Grab the long thin bottle with the left arm and shake.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Hold the medium dark brown bottle, shake it briefly.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Lift the brown bottle with red label and shake it gently.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Pick the red-capped bottle, shake it with the left arm.", + "Shake the long thin bottle after grabbing it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the red-capped bottle after grabbing it.", + "Grab the red-capped bottle carefully and shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab the plastic drink bottle and move it to shake.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Secure the smooth bottle with red lid and perform a shake.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Pick the red-capped bottle and perform shaking motion.", + "Grab the medium dark brown bottle and give it a shake.", + "Use the left arm to pick and shake the red-capped bottle.", + "Use the left arm to lift and shake the red-capped bottle.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Grab and shake the brown bottle with red label using the left arm.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Hold and shake the the plastic drink bottle carefully.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Pick up the dark drink bottle with logo and shake it well.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Grab the long thin bottle and shake it steadily.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the Coca-Cola bottle after lifting it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick up the brown bottle with red label and shake it.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Hold the plastic drink bottle, shake it briefly.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Shake the plastic drink bottle after holding it firmly.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the red-capped bottle carefully and shake.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab the Coca-Cola bottle and move it to shake.", + "Shake the the plastic drink bottle properly after lifting.", + "Pick the long thin bottle up using the left arm and shake it.", + "Secure the long thin bottle and perform a shake.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Pick the long thin bottle and perform shaking motion.", + "Grab the Coca-Cola bottle and give it a shake.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Hold and shake the the bottle with white neck and red top carefully.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Pick up the red-capped bottle and shake it well.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Grip the brown bottle with red label using the left arm and shake." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode8.json b/shake_bottle/ur5_clean_50/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..72a155e8e484ff8c2864a4c3450e1b6fddfce1ab --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the plastic bottle with ribbed pattern thoroughly after grabbing it.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Shake the the small brown plastic bottle properly after lifting.", + "Lift the bottle with tapered cylindrical shape and shake it gently.", + "Use the left arm to grab the bottle with tapered cylindrical shape and shake it.", + "Grasp the brown bottle with the left arm and shake it.", + "Hold the brown bottle with white printed label, shake it briefly.", + "Shake the bottle with tapered cylindrical shape after holding it firmly.", + "Grab and shake the brown bottle using the left arm.", + "Use the left arm to hold the hand-sized bottle with grooves and shake it.", + "Utilize the left arm to hold the cylindrical bottle with white label and shake it.", + "Grab the green-capped bottle firmly, shake it, and put it down.", + "Lift the green-capped bottle with the left arm and shake it.", + "Pick the bottle with tapered cylindrical shape and perform shaking motion.", + "Grab the brown bottle with green screw-on cap and move it to shake.", + "Hold the hand-sized bottle with grooves steady, then shake it.", + "Use the left arm to lift and shake the hand-sized bottle with grooves.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Lift the cylindrical bottle with white label and shake it thoroughly.", + "Take the small drink bottle with logo using the left arm and give it a shake.", + "Hold the brown bottle with the left arm and shake lightly.", + "Shake the small drink bottle with logo after grabbing it.", + "With the left arm, pick the bottle with green cap and shake properly.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Grip the smooth plastic bottle for beverages using the left arm and shake.", + "Secure the smooth plastic bottle for beverages, shake it, and place it down.", + "Use the left arm to pick and shake the brown bottle with white printed label.", + "Grab the brown bottle with green screw-on cap and shake it steadily.", + "Shake the brown bottle firmly after grabbing.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Shake the small brown plastic bottle after grabbing it.", + "Pick up the bottle with tapered cylindrical shape and shake it well.", + "Lift the small brown plastic bottle with the left arm and give it a shake.", + "Pick the small drink bottle with logo up using the left arm and shake it.", + "Pick the bottle with tapered cylindrical shape up with the left arm and shake.", + "Lift the bottle with tapered cylindrical shape with the left arm and shake.", + "Shake the smooth plastic bottle for beverages after lifting it.", + "Grab the green-capped bottle with the left arm and shake.", + "Lift up the hand-sized bottle with grooves using the left arm, then shake.", + "Grab the brown bottle with white printed label and give it a shake.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Hold the bottle with tapered cylindrical shape and shake it properly.", + "Use the left arm to grab the bottle with tapered cylindrical shape and shake properly.", + "Using the left arm, shake the small brown plastic bottle and then place it back.", + "Secure the cylindrical bottle with white label and perform a shake.", + "Pick up the smooth plastic bottle for beverages and shake it.", + "Pick the small brown plastic bottle, shake it with the left arm.", + "Grab the brown bottle with green screw-on cap using the left arm, then shake.", + "Hold and shake the the bottle with green cap carefully.", + "Shake the bottle with tapered cylindrical shape thoroughly after grabbing it.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Shake the the brown bottle with green screw-on cap properly after lifting.", + "Lift the brown bottle and shake it gently.", + "Use the left arm to grab the brown bottle and shake it.", + "Grasp the small drink bottle with logo with the left arm and shake it.", + "Hold the brown bottle with green screw-on cap, shake it briefly.", + "Shake the green-capped bottle after holding it firmly.", + "Grab and shake the smooth plastic bottle for beverages using the left arm.", + "Use the left arm to hold the small brown plastic bottle and shake it.", + "Utilize the left arm to hold the cylindrical bottle with white label and shake it.", + "Grab the smooth plastic bottle for beverages firmly, shake it, and put it down.", + "Lift the plastic bottle with ribbed pattern with the left arm and shake it.", + "Pick the cylindrical bottle with white label and perform shaking motion.", + "Grab the small drink bottle with logo and move it to shake.", + "Hold the bottle with green cap steady, then shake it.", + "Use the left arm to lift and shake the plastic bottle with ribbed pattern.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Lift the bottle with green cap and shake it thoroughly.", + "Take the brown bottle with green screw-on cap using the left arm and give it a shake.", + "Hold the bottle with green cap with the left arm and shake lightly.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "With the left arm, pick the green-capped bottle and shake properly.", + "Grab the plastic bottle with ribbed pattern carefully and shake.", + "Grip the green-capped bottle using the left arm and shake.", + "Secure the cylindrical bottle with white label, shake it, and place it down.", + "Use the left arm to pick and shake the bottle with green cap.", + "Grab the smooth plastic bottle for beverages and shake it steadily.", + "Shake the bottle with green cap firmly after grabbing.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Pick up the smooth plastic bottle for beverages and shake it well.", + "Lift the brown bottle with green screw-on cap with the left arm and give it a shake.", + "Pick the small drink bottle with logo up using the left arm and shake it.", + "Pick the cylindrical bottle with white label up with the left arm and shake.", + "Lift the smooth plastic bottle for beverages with the left arm and shake.", + "Shake the brown bottle with green screw-on cap after lifting it.", + "Grab the small drink bottle with logo with the left arm and shake.", + "Lift up the small brown plastic bottle using the left arm, then shake.", + "Grab the small drink bottle with logo and give it a shake.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Catch the brown bottle with green screw-on cap and shake it instantly.", + "Hold the small brown plastic bottle and shake it properly.", + "Use the left arm to grab the brown bottle with green screw-on cap and shake properly.", + "Using the left arm, shake the cylindrical bottle with white label and then place it back.", + "Secure the hand-sized bottle with grooves and perform a shake.", + "Pick up the plastic bottle with ribbed pattern and shake it.", + "Pick the green-capped bottle, shake it with the left arm.", + "Grab the small drink bottle with logo using the left arm, then shake.", + "Hold and shake the the bottle with green cap carefully." + ], + "unseen": [ + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Shake the bottle with coffee-colored body after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/instructions/episode9.json b/shake_bottle/ur5_clean_50/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..f994c94c72848f005149380624e1bd4818a595e8 --- /dev/null +++ b/shake_bottle/ur5_clean_50/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ribbed orange bottom using the left arm after grabbing.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Hold the smooth plastic bottle and shake it properly.", + "Shake the medium orange bottle after lifting it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Grab the smooth plastic bottle and shake it steadily.", + "Shake the the yellow label bottle properly after lifting.", + "Use the left arm to pick and shake the yellow label bottle.", + "Lift the orange bottle with the left arm and shake.", + "Secure the orange and white bottle with cap and perform a shake.", + "Use the left arm to hold the medium bottle with orange lid and shake it.", + "Use the left arm to grab the white and orange plastic bottle and shake properly.", + "Lift the yellow label bottle and shake it gently.", + "Hold the plastic bottle, shake it briefly.", + "Pick the orange and white bottle with cap up with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the orange bottle using the left arm, then shake.", + "Use the left arm to lift and shake the yellow label bottle.", + "Pick the white and orange plastic bottle, shake it with the left arm.", + "Grab the medium bottle with orange lid firmly, shake it, and put it down.", + "Shake the medium orange bottle after grabbing it.", + "Grasp the cylindrical orange and white bottle with the left arm and shake it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Take the orange bottle using the left arm and give it a shake.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Grab the medium bottle with orange lid and move it to shake.", + "Shake the orange and white bottle with cap after grabbing it.", + "Lift the yellow label bottle with the left arm and shake it.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Grab the bottle with ribbed orange bottom and give it a shake.", + "Secure the yellow label bottle, shake it, and place it down.", + "Catch the medium bottle with orange lid and shake it instantly.", + "With the left arm, pick the medium orange bottle and shake properly.", + "Grip the plastic bottle using the left arm and shake.", + "Pick the orange bottle up using the left arm and shake it.", + "Grab and shake the plastic bottle using the left arm.", + "Shake the medium bottle with orange lid thoroughly after grabbing it.", + "Pick up the smooth plastic bottle and shake it well.", + "Lift up the orange bottle using the left arm, then shake.", + "Shake the white and orange plastic bottle after grabbing it.", + "Grab the cylindrical orange and white bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Pick up the orange bottle and shake it.", + "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow label bottle.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Hold the white and orange plastic bottle with the left arm and shake lightly.", + "Shake the orange and white bottle with cap firmly after grabbing.", + "Lift the medium bottle with orange lid and shake it thoroughly.", + "Shake the drinking bottle with yellow label using the left arm after grabbing.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Hold the smooth plastic bottle and shake it properly.", + "Shake the medium orange bottle after lifting it.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Grab the medium orange bottle and shake it steadily.", + "Shake the the drinking bottle with yellow label properly after lifting.", + "Use the left arm to pick and shake the cylindrical orange and white bottle.", + "Lift the medium orange bottle with the left arm and shake.", + "Secure the yellow label bottle and perform a shake.", + "Use the left arm to hold the bottle with orange cap and shake it.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Lift the orange bottle and shake it gently.", + "Hold the white and orange plastic bottle, shake it briefly.", + "Pick the orange and white bottle with cap up with the left arm and shake.", + "Utilize the left arm to hold the medium bottle with orange lid and shake it.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the medium orange bottle.", + "Pick the orange and white bottle with cap, shake it with the left arm.", + "Grab the medium bottle with orange lid firmly, shake it, and put it down.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Grasp the plastic bottle with the left arm and shake it.", + "Use the left arm to grab the medium bottle with orange lid and shake it.", + "Take the yellow label bottle using the left arm and give it a shake.", + "Hold the orange and white bottle with cap steady, then shake it.", + "Grab the bottle with orange cap and move it to shake.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Lift the orange bottle with the left arm and shake it.", + "Pick the yellow label bottle and perform shaking motion.", + "Grab the bottle with orange cap and give it a shake.", + "Secure the white and orange plastic bottle, shake it, and place it down.", + "Catch the medium orange bottle and shake it instantly.", + "With the left arm, pick the orange bottle and shake properly.", + "Grip the medium bottle with orange lid using the left arm and shake.", + "Pick the white and orange plastic bottle up using the left arm and shake it.", + "Grab and shake the medium bottle with orange lid using the left arm.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Pick up the yellow label bottle and shake it well.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Pick up the bottle with ribbed orange bottom and shake it.", + "Lift the orange and white bottle with cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Hold and shake the the orange and white bottle with cap carefully.", + "Hold the orange bottle with the left arm and shake lightly.", + "Shake the medium bottle with orange lid firmly after grabbing.", + "Lift the yellow label bottle and shake it thoroughly." + ], + "unseen": [ + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_clean_50/scene_info.json b/shake_bottle/ur5_clean_50/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/shake_bottle/ur5_clean_50/seed.txt b/shake_bottle/ur5_clean_50/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..3c2de3ea825096ecf6cf5b8988f3c680c2ea6e9c --- /dev/null +++ b/shake_bottle/ur5_clean_50/seed.txt @@ -0,0 +1 @@ +5 6 7 8 9 12 14 15 16 18 19 20 21 22 23 24 25 26 27 30 31 32 33 34 36 37 38 42 45 46 47 48 49 50 51 52 53 54 56 57 58 60 61 64 66 67 68 69 70 71 \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode0.json b/shake_bottle/ur5_randomized_500/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..6f0b9be462927af45499fe519d3ad6184fe70303 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the dark drink bottle with logo after grabbing it.", + "Pick up the plastic drink bottle and shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Grab the bottle with white neck and red top and give it a shake.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Shake the brown bottle with red label after grabbing it.", + "Catch the plastic drink bottle and shake it instantly.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Pick the long thin bottle, shake it with the right arm.", + "Shake the the plastic drink bottle properly after lifting.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Shake the bottle with white neck and red top after lifting it.", + "Shake the narrow-necked bottle after grabbing it.", + "Grip the long thin bottle using the right arm and shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Grab the plastic drink bottle and move it to shake.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Lift the long thin bottle and shake it gently.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Grab and shake the red-capped bottle using the right arm.", + "Secure the hand-sized soda bottle and perform a shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Hold the plastic drink bottle, shake it briefly.", + "Hold and shake the the plastic drink bottle carefully.", + "Shake the dark drink bottle with logo after grabbing it.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the brown bottle with red label carefully and shake.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Grab the hand-sized soda bottle and give it a shake.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Grab the long thin bottle and shake it steadily.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Shake the the narrow-necked bottle properly after lifting.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Utilize the right arm to hold the narrow-necked bottle and shake it.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Use the right arm to grab the Coca-Cola bottle and shake it.", + "Shake the bottle with ridges on bottom after lifting it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grip the brown bottle with red label using the right arm and shake.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Hold the narrow-necked bottle and shake it properly.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Grab and shake the brown bottle with red label using the right arm.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Shake the red-capped bottle firmly after grabbing.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Hold and shake the the narrow-necked bottle carefully." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode1.json b/shake_bottle/ur5_randomized_500/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..6810108978acac72f1ab964f1a4f5a3b9ea6de35 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the blue bottle with label using the left arm.", + "Grab the white and blue bottle with the left arm and shake.", + "Hold the handheld bottle, shake it briefly.", + "Grip the white bottle with blue accents using the left arm and shake.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Pick up the cylindrical bottle and shake it.", + "Use the left arm to grab the white bottle with blue accents and shake it.", + "Grab the handheld bottle and move it to shake.", + "Lift the bottle for liquids and shake it gently.", + "Take the bottle with blue cap using the left arm and give it a shake.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Shake the the medium-sized bottle properly after lifting.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Secure the handheld bottle, shake it, and place it down.", + "Utilize the left arm to hold the blue bottle with label and shake it.", + "Lift the medium bottle for beverages and shake it thoroughly.", + "Lift up the blue bottle with label using the left arm, then shake.", + "Using the left arm, shake the white and blue bottle and then place it back.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Shake the bottle for liquids firmly after grabbing.", + "Shake the bottle with blue cap thoroughly after grabbing it.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Pick up the cylindrical bottle and shake it well.", + "Use the left arm to lift and shake the bottle with blue cap.", + "Grasp the blue bottle with label with the left arm and shake it.", + "Shake the blue bottle after grabbing it.", + "Pick the blue bottle with label and perform shaking motion.", + "Hold the blue bottle with the left arm and shake lightly.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Pick the white and blue bottle up with the left arm and shake.", + "Shake the blue bottle after lifting it.", + "Hold the cylindrical bottle steady, then shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Grab the cylindrical bottle and shake it steadily.", + "Grab the cylindrical bottle and give it a shake.", + "Pick the white and blue bottle, shake it with the left arm.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Grab the plastic bottle carefully and shake.", + "Hold the blue bottle and shake it properly.", + "Shake the white bottle with blue accents after grabbing it.", + "Secure the medium bottle for beverages and perform a shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Use the left arm to hold the bottle with blue cap and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the white and blue bottle after holding it firmly.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Catch the white and blue bottle and shake it instantly.", + "Grab and shake the bottle for liquids using the left arm.", + "Grab the medium-sized bottle with the left arm and shake.", + "Hold the white and blue bottle, shake it briefly.", + "Grip the smooth plastic bottle using the left arm and shake.", + "Grab the white bottle with blue accents using the left arm, then shake.", + "Lift the blue bottle with label with the left arm and shake it.", + "Pick up the cylindrical bottle and shake it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Grab the white and blue bottle and move it to shake.", + "Lift the bottle with blue cap and shake it gently.", + "Take the blue bottle using the left arm and give it a shake.", + "Pick the white bottle with blue accents up using the left arm and shake it.", + "Shake the the white and blue bottle properly after lifting.", + "Use the left arm to grab the cylindrical bottle and shake properly.", + "Secure the handheld bottle, shake it, and place it down.", + "Utilize the left arm to hold the medium bottle for beverages and shake it.", + "Lift the blue bottle with label and shake it thoroughly.", + "Lift up the white and blue bottle using the left arm, then shake.", + "Using the left arm, shake the white bottle with blue accents and then place it back.", + "Shake the bottle for liquids using the left arm after grabbing.", + "Shake the medium bottle for beverages firmly after grabbing.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Use the left arm to pick and shake the white bottle with blue accents.", + "Pick up the blue bottle and shake it well.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Grasp the cylindrical bottle with the left arm and shake it.", + "Shake the bottle with blue cap after grabbing it.", + "Pick the blue bottle with label and perform shaking motion.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Pick the cylindrical bottle up with the left arm and shake.", + "Shake the bottle for liquids after lifting it.", + "Hold the medium-sized bottle steady, then shake it.", + "Lift the medium-sized bottle with the left arm and shake.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Grab the white and blue bottle and shake it steadily.", + "Grab the medium-sized bottle and give it a shake.", + "Pick the medium bottle for beverages, shake it with the left arm.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Grab the blue bottle with label carefully and shake.", + "Hold the white and blue bottle and shake it properly.", + "Shake the plastic bottle after grabbing it.", + "Secure the plastic bottle and perform a shake.", + "Use the left arm to lift and shake the blue bottle with label.", + "Use the left arm to hold the plastic bottle and shake it.", + "Hold and shake the the medium bottle for beverages carefully.", + "Shake the white bottle with blue accents after grabbing it.", + "Shake the bottle for liquids after holding it firmly.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Catch the blue bottle and shake it instantly." + ], + "unseen": [ + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode10.json b/shake_bottle/ur5_randomized_500/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..3a67cf4894dc93f0a6888fde29f2abbc13089d7a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with yellow cap after grabbing it.", + "Shake the liquid container with orange body after grabbing it.", + "Lift the small bottle with bright yellow lid and shake it thoroughly.", + "Pick up the handheld medium-sized liquid bottle and shake it.", + "Hold the small bottle with bright yellow lid steady, then shake it.", + "Grab the orange bottle with bold labeling and give it a shake.", + "Shake the liquid container with orange body firmly after grabbing.", + "Hold the rounded bottom orange plastic bottle, shake it briefly.", + "Shake the the cylindrical orange bottle with smooth surface properly after lifting.", + "Shake the bottle with yellow cap after grabbing it.", + "Lift the orange bottle with the left arm and shake.", + "Grip the yellow-capped bottle for beverages using the left arm and shake.", + "Grab the yellow-capped orange plastic bottle carefully and shake.", + "Take the small bottle with bright yellow lid using the left arm and give it a shake.", + "Lift the rounded orange bottle with yellow top with the left arm and give it a shake.", + "Hold the orange bottle with bold labeling and shake it properly.", + "Use the left arm to lift and shake the orange bottle with bold labeling.", + "Shake the rounded bottom orange plastic bottle after lifting it.", + "With the left arm, pick the yellow-capped orange plastic bottle and shake properly.", + "Lift the orange bottle with bold labeling with the left arm and shake it.", + "Using the left arm, shake the small bottle with bright yellow lid and then place it back.", + "Grab the smooth orange cylindrical bottle and move it to shake.", + "Use the left arm to grab the orange bottle and shake properly.", + "Grasp the orange bottle with bold labeling with the left arm and shake it.", + "Catch the bottle with yellow cap and shake it instantly.", + "Hold the handheld medium-sized liquid bottle with the left arm and shake lightly.", + "Lift the liquid container with orange body and shake it gently.", + "Pick the yellow-capped orange plastic bottle, shake it with the left arm.", + "Secure the rounded orange bottle with yellow top, shake it, and place it down.", + "Shake the smooth orange cylindrical bottle thoroughly after grabbing it.", + "Grab the cylindrical orange bottle with smooth surface firmly, shake it, and put it down.", + "Use the left arm to pick and shake the bottle with yellow cap.", + "Use the left arm to hold the rounded orange bottle with yellow top and shake it.", + "Pick the liquid container with orange body up using the left arm and shake it.", + "Utilize the left arm to hold the rounded bottom orange plastic bottle and shake it.", + "Use the left arm to lift and shake the yellow-capped bottle for beverages.", + "Pick the cylindrical orange bottle with smooth surface and perform shaking motion.", + "Use the left arm to grab the yellow-capped orange plastic bottle and shake it.", + "Grab the yellow-capped bottle for beverages with the left arm and shake.", + "Hold and shake the the smooth orange cylindrical bottle carefully.", + "Secure the handheld medium-sized liquid bottle and perform a shake.", + "Shake the smooth orange cylindrical bottle after holding it firmly.", + "Shake the rounded bottom orange plastic bottle using the left arm after grabbing.", + "Lift up the small bottle with bright yellow lid using the left arm, then shake.", + "Pick the liquid container with orange body up with the left arm and shake.", + "Pick up the cylindrical orange bottle with smooth surface and shake it well.", + "Use the left arm to lift and shake the liquid container with orange body.", + "Grab the yellow-capped orange plastic bottle and shake it steadily.", + "Grab and shake the orange bottle using the left arm.", + "Grab the liquid container with orange body using the left arm, then shake.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the liquid container with orange body after grabbing it.", + "Lift the liquid container with orange body and shake it thoroughly.", + "Pick up the bottle with yellow cap and shake it.", + "Hold the orange bottle with bold labeling steady, then shake it.", + "Grab the handheld medium-sized liquid bottle and give it a shake.", + "Shake the small bottle with bright yellow lid firmly after grabbing.", + "Hold the yellow-capped bottle for beverages, shake it briefly.", + "Shake the the yellow-capped bottle for beverages properly after lifting.", + "Shake the handheld medium-sized liquid bottle after grabbing it.", + "Lift the bottle with yellow cap with the left arm and shake.", + "Grip the yellow-capped orange plastic bottle using the left arm and shake.", + "Grab the yellow-capped orange plastic bottle carefully and shake.", + "Take the orange bottle using the left arm and give it a shake.", + "Lift the yellow-capped bottle for beverages with the left arm and give it a shake.", + "Hold the smooth orange cylindrical bottle and shake it properly.", + "Use the left arm to lift and shake the rounded orange bottle with yellow top.", + "Shake the orange bottle after lifting it.", + "With the left arm, pick the yellow-capped bottle for beverages and shake properly.", + "Lift the smooth orange cylindrical bottle with the left arm and shake it.", + "Using the left arm, shake the bottle with yellow cap and then place it back.", + "Grab the rounded orange bottle with yellow top and move it to shake.", + "Use the left arm to grab the cylindrical orange bottle with smooth surface and shake properly.", + "Grasp the smooth orange cylindrical bottle with the left arm and shake it.", + "Catch the smooth orange cylindrical bottle and shake it instantly.", + "Hold the orange bottle with the left arm and shake lightly.", + "Lift the bottle with yellow cap and shake it gently.", + "Pick the small bottle with bright yellow lid, shake it with the left arm.", + "Secure the orange bottle with bold labeling, shake it, and place it down.", + "Shake the cylindrical orange bottle with smooth surface thoroughly after grabbing it.", + "Grab the liquid container with orange body firmly, shake it, and put it down.", + "Use the left arm to pick and shake the handheld medium-sized liquid bottle.", + "Use the left arm to hold the orange bottle with bold labeling and shake it.", + "Pick the bottle with yellow cap up using the left arm and shake it.", + "Utilize the left arm to hold the rounded bottom orange plastic bottle and shake it.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Pick the rounded orange bottle with yellow top and perform shaking motion.", + "Use the left arm to grab the smooth orange cylindrical bottle and shake it.", + "Grab the yellow-capped orange plastic bottle with the left arm and shake.", + "Hold and shake the the liquid container with orange body carefully.", + "Secure the orange bottle and perform a shake.", + "Shake the rounded bottom orange plastic bottle after holding it firmly.", + "Shake the handheld medium-sized liquid bottle using the left arm after grabbing.", + "Lift up the handheld medium-sized liquid bottle using the left arm, then shake.", + "Pick the bottle with yellow cap up with the left arm and shake.", + "Pick up the handheld medium-sized liquid bottle and shake it well.", + "Use the left arm to lift and shake the smooth orange cylindrical bottle.", + "Grab the handheld medium-sized liquid bottle and shake it steadily.", + "Grab and shake the yellow-capped orange plastic bottle using the left arm.", + "Grab the handheld medium-sized liquid bottle using the left arm, then shake." + ], + "unseen": [ + "Grab the medium plastic bottle and shake it.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the medium bottle for liquids and shake it.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick up the medium plastic bottle and shake it.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle and shake it.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick up the medium plastic bottle and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium plastic bottle and shake it.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium plastic bottle and shake it.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the medium bottle for liquids and shake it.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode100.json b/shake_bottle/ur5_randomized_500/instructions/episode100.json new file mode 100644 index 0000000000000000000000000000000000000000..5191b0167a2c6c0743f3beed550f2956f5c4f020 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode100.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle and shake it thoroughly.", + "Pick up the medium-sized green bottle and shake it well.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Use the right arm to pick and shake the smooth green bottle.", + "Shake the bottle with white printed label firmly after grabbing.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Hold the smooth green bottle steady, then shake it.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Grab the plastic bottle and move it to shake.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Lift the green bottle with indented base with the right arm and shake.", + "Shake the green bottle with indented base after lifting it.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Pick up the bottle with ridges near base and shake it.", + "Lift the bottle with ridges near base and shake it gently.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Use the right arm to hold the medium green bottle and shake it.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Take the plastic bottle using the right arm and give it a shake.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Grab the smooth green plastic bottle carefully and shake.", + "Shake the the medium green bottle properly after lifting.", + "Grab the medium-sized green bottle and give it a shake.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Lift the handheld green bottle with the right arm and shake it.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Hold the medium-sized green bottle, shake it briefly.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Hold and shake the the bottle with white printed label carefully.", + "Shake the handheld green bottle after grabbing it.", + "Secure the medium green bottle and perform a shake.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Shake the medium green bottle after grabbing it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Pick up the bottle with white printed label and shake it well.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab and shake the green bottle with indented base using the right arm.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Hold the bottle with rounded neck steady, then shake it.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Hold the bottle with rounded neck and shake it properly.", + "Grab the handheld green bottle and move it to shake.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Lift the bottle with narrow top with the right arm and shake.", + "Shake the bottle with narrow top after lifting it.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Grab the bottle with white printed label and shake it steadily.", + "Catch the bottle with rounded neck and shake it instantly.", + "Pick up the plastic bottle and shake it.", + "Lift the green bottle with indented base and shake it gently.", + "Shake the medium-sized green bottle after holding it firmly.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Grab the handheld green bottle using the right arm, then shake.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Pick the medium green bottle, shake it with the right arm.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Grab the bottle with rounded neck carefully and shake.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the bottle with white printed label and give it a shake.", + "Grip the handheld green bottle using the right arm and shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Hold the bottle with white printed label, shake it briefly.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Grab the handheld green bottle with the right arm and shake.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the smooth green bottle after grabbing it.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Shake the bottle with narrow top after grabbing it." + ], + "unseen": [ + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode101.json b/shake_bottle/ur5_randomized_500/instructions/episode101.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd028c5fddd2ffe859133dc733abf27e0aeecd9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode101.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium bottle with colorful label after lifting it.", + "Lift the grooved orange drink bottle with the left arm and give it a shake.", + "Take the light and medium-sized bottle using the left arm and give it a shake.", + "Secure the light and medium-sized bottle and perform a shake.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Grab the curved orange soda bottle using the left arm, then shake.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Pick the orange drink bottle with label, shake it with the left arm.", + "Grab the smooth orange bottle and give it a shake.", + "Utilize the left arm to hold the medium bottle with colorful label and shake it.", + "Catch the orange bottle and shake it instantly.", + "Lift the ridged orange bottle with grooves with the left arm and shake it.", + "Shake the the bottle for holding drinks properly after lifting.", + "Use the left arm to grab the ridged orange bottle with grooves and shake properly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the light and medium-sized bottle and shake it steadily.", + "Hold the round-bottom bottle with white cap steady, then shake it.", + "Hold the orange bottle and shake it properly.", + "Use the left arm to hold the medium bottle with colorful label and shake it.", + "Lift the bottle for holding drinks with the left arm and shake.", + "Pick up the orange bottle and shake it well.", + "Use the left arm to grab the plastic bottle and shake it.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Shake the medium bottle with colorful label after grabbing it.", + "Grip the curved orange soda bottle using the left arm and shake.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Lift up the smooth orange bottle using the left arm, then shake.", + "Grasp the light and medium-sized bottle with the left arm and shake it.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Pick the medium bottle with colorful label and perform shaking motion.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Use the left arm to pick and shake the orange bottle.", + "Grab and shake the cylindrical orange plastic bottle using the left arm.", + "Pick the orange bottle up with the left arm and shake.", + "Grab the light and medium-sized bottle with the left arm and shake.", + "Grab the smooth orange bottle carefully and shake.", + "Hold and shake the the round-bottom bottle with white cap carefully.", + "Shake the orange bottle after grabbing it.", + "Pick up the round-bottom bottle with white cap and shake it.", + "Grab the orange bottle and move it to shake.", + "Using the left arm, shake the curved orange soda bottle and then place it back.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Hold the bottle for holding drinks, shake it briefly.", + "Shake the medium bottle with colorful label after grabbing it.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Shake the orange drink bottle with label using the left arm after grabbing.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Lift the cylindrical orange plastic bottle and shake it thoroughly.", + "Hold the orange drink bottle with label with the left arm and shake lightly.", + "Shake the orange drink bottle with label after lifting it.", + "Lift the light and medium-sized bottle with the left arm and give it a shake.", + "Take the bottle for holding drinks using the left arm and give it a shake.", + "Secure the plastic bottle and perform a shake.", + "Lift the light and medium-sized bottle and shake it gently.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the smooth orange bottle using the left arm, then shake.", + "Shake the plastic bottle after holding it firmly.", + "Pick the medium bottle with colorful label, shake it with the left arm.", + "Grab the medium bottle with colorful label and give it a shake.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Lift the grooved orange drink bottle with the left arm and shake it.", + "Shake the the orange drink bottle with label properly after lifting.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Pick the round-bottom bottle with white cap up using the left arm and shake it.", + "Grab the round-bottom bottle with white cap and shake it steadily.", + "Hold the orange drink bottle with label steady, then shake it.", + "Hold the bottle for holding drinks and shake it properly.", + "Use the left arm to hold the bottle for holding drinks and shake it.", + "Lift the grooved orange drink bottle with the left arm and shake.", + "Pick up the grooved orange drink bottle and shake it well.", + "Use the left arm to grab the curved orange soda bottle and shake it.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Shake the orange bottle after grabbing it.", + "Grip the plastic bottle using the left arm and shake.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Lift up the plastic bottle using the left arm, then shake.", + "Grasp the light and medium-sized bottle with the left arm and shake it.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Pick the cylindrical orange plastic bottle and perform shaking motion.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the cylindrical orange plastic bottle.", + "Grab and shake the grooved orange drink bottle using the left arm.", + "Pick the orange bottle up with the left arm and shake.", + "Grab the bottle for holding drinks with the left arm and shake.", + "Grab the ridged orange bottle with grooves carefully and shake.", + "Hold and shake the the bottle for holding drinks carefully.", + "Shake the plastic bottle after grabbing it.", + "Pick up the grooved orange drink bottle and shake it.", + "Grab the smooth orange bottle and move it to shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Hold the curved orange soda bottle, shake it briefly.", + "Shake the curved orange soda bottle after grabbing it.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Shake the curved orange soda bottle using the left arm after grabbing.", + "Shake the grooved orange drink bottle firmly after grabbing.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the curved orange soda bottle with the left arm and shake lightly." + ], + "unseen": [ + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode102.json b/shake_bottle/ur5_randomized_500/instructions/episode102.json new file mode 100644 index 0000000000000000000000000000000000000000..38efe5aaf43e74a4cea8d5c5b42aa5cbc1db9b73 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode102.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with brown body and white top up with the right arm and shake.", + "Pick the medium plastic bottle up using the right arm and shake it.", + "Grab the bottle with white cap carefully and shake.", + "Lift the bottle with white cap and shake it thoroughly.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Hold and shake the the bottle with white cap carefully.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Grip the medium plastic bottle using the right arm and shake.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Shake the rounded bottle with printed details after grabbing it.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Pick up the medium plastic bottle and shake it well.", + "Shake the plastic bottle for liquids after grabbing it.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Grab the rounded bottle with printed details and move it to shake.", + "Lift the medium plastic bottle with the right arm and shake it.", + "Catch the medium plastic bottle and shake it instantly.", + "Lift the bottle with brown body and white top and shake it gently.", + "Pick up the bottle with white cap and shake it.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Shake the medium plastic bottle after lifting it.", + "Lift the plastic bottle with printed label with the right arm and give it a shake.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Pick the bottle with brown body and white top, shake it with the right arm.", + "Grab the medium plastic bottle using the right arm, then shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the plastic bottle with printed label using the right arm after grabbing.", + "Take the smooth brown bottle using the right arm and give it a shake.", + "Hold the rounded bottle with printed details, shake it briefly.", + "With the right arm, pick the cylindrical bottle with narrow neck and shake properly.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Use the right arm to pick and shake the medium plastic bottle.", + "Grab the white-capped brown cylindrical bottle with the right arm and shake.", + "Lift the handheld brown bottle with white lid with the right arm and shake.", + "Grab and shake the handheld brown bottle with white lid using the right arm.", + "Using the right arm, shake the handheld brown bottle with white lid and then place it back.", + "Secure the bottle with brown body and white top, shake it, and place it down.", + "Utilize the right arm to hold the bottle with brown body and white top and shake it.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Use the right arm to grab the bottle with dark brown color and shake it.", + "Use the right arm to hold the rounded bottle with printed details and shake it.", + "Hold the medium bottle with smooth texture with the right arm and shake lightly.", + "Shake the bottle with dark brown color after grabbing it.", + "Use the right arm to grab the plastic bottle for liquids and shake properly.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Secure the white-capped brown cylindrical bottle and perform a shake.", + "Hold the bottle with dark brown color steady, then shake it.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Pick the handheld brown bottle with white lid up with the right arm and shake.", + "Pick the medium bottle with smooth texture up using the right arm and shake it.", + "Grab the smooth brown bottle carefully and shake.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Pick the smooth brown bottle and perform shaking motion.", + "Hold and shake the the rounded bottle with printed details carefully.", + "Shake the bottle with dark brown color after holding it firmly.", + "Shake the bottle with white cap firmly after grabbing.", + "Grip the medium bottle with smooth texture using the right arm and shake.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Shake the bottle with dark brown color after grabbing it.", + "Hold the smooth brown bottle and shake it properly.", + "Pick up the plastic bottle with printed label and shake it well.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Grab the plastic bottle for liquids and move it to shake.", + "Lift the plastic bottle with printed label with the right arm and shake it.", + "Catch the bottle with dark brown color and shake it instantly.", + "Lift the white-capped brown cylindrical bottle and shake it gently.", + "Pick up the plastic bottle for liquids and shake it.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Shake the smooth brown bottle after lifting it.", + "Lift the bottle with brown body and white top with the right arm and give it a shake.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Pick the medium plastic bottle, shake it with the right arm.", + "Grab the plastic bottle for liquids using the right arm, then shake.", + "Grab the white-capped brown cylindrical bottle and give it a shake.", + "Shake the white-capped brown cylindrical bottle using the right arm after grabbing.", + "Take the white-capped brown cylindrical bottle using the right arm and give it a shake.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "With the right arm, pick the handheld brown bottle with white lid and shake properly.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Use the right arm to pick and shake the smooth brown bottle.", + "Grab the medium bottle with smooth texture with the right arm and shake.", + "Lift the bottle with brown body and white top with the right arm and shake.", + "Grab and shake the medium bottle with smooth texture using the right arm.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Utilize the right arm to hold the bottle with brown body and white top and shake it.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Use the right arm to grab the medium bottle with smooth texture and shake it.", + "Use the right arm to hold the bottle with dark brown color and shake it.", + "Hold the white-capped brown cylindrical bottle with the right arm and shake lightly.", + "Shake the bottle with dark brown color after grabbing it.", + "Use the right arm to grab the plastic bottle with printed label and shake properly.", + "Grasp the handheld brown bottle with white lid with the right arm and shake it.", + "Secure the bottle with brown body and white top and perform a shake.", + "Hold the handheld brown bottle with white lid steady, then shake it.", + "Lift up the medium bottle with smooth texture using the right arm, then shake." + ], + "unseen": [ + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode103.json b/shake_bottle/ur5_randomized_500/instructions/episode103.json new file mode 100644 index 0000000000000000000000000000000000000000..c148e3e358c27b0a0cab8fb13b82ba3fe8d719c4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode103.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with narrow neck and shake it gently.", + "Grip the orange bottle using the left arm and shake.", + "Hold the orange bottle and shake it properly.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Grab the bottle with narrow neck and shake it steadily.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Lift the bottle for liquids and shake it thoroughly.", + "Grab the plastic bottle with sealed yellow cap using the left arm, then shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Shake the bottle with printed label after lifting it.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Lift the cylindrical orange bottle with yellow top with the left arm and shake.", + "Using the left arm, shake the orange bottle and then place it back.", + "Pick the medium-sized orange bottle and perform shaking motion.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Grab the bottle with narrow neck and move it to shake.", + "Use the left arm to lift and shake the bottle with narrow neck.", + "Take the plastic bottle with sealed yellow cap using the left arm and give it a shake.", + "Grasp the bottle with printed label with the left arm and shake it.", + "Use the left arm to hold the orange bottle and shake it.", + "Grab and shake the bottle with printed label using the left arm.", + "Use the left arm to grab the cylindrical orange bottle with yellow top and shake properly.", + "Grab the orange bottle and give it a shake.", + "Grab the plastic bottle with the left arm and shake.", + "Lift the orange cylindrical bottle with the left arm and shake it.", + "Hold the orange bottle, shake it briefly.", + "Shake the orange bottle using the left arm after grabbing.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Utilize the left arm to hold the yellow-capped plastic bottle and shake it.", + "Hold the cylindrical orange bottle with yellow top steady, then shake it.", + "Use the left arm to pick and shake the medium-sized orange bottle.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the yellow-capped plastic bottle carefully and shake.", + "Pick up the smooth plastic bottle and shake it.", + "Shake the medium-sized orange bottle after holding it firmly.", + "Secure the bottle for liquids, shake it, and place it down.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Shake the orange cylindrical bottle firmly after grabbing.", + "Pick the orange cylindrical bottle, shake it with the left arm.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Lift up the bottle with printed label using the left arm, then shake.", + "Hold and shake the the bottle with narrow neck carefully.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Hold the bottle with narrow neck with the left arm and shake lightly.", + "Secure the bottle with printed label and perform a shake.", + "Lift the orange bottle and shake it gently.", + "Grip the bottle with printed label using the left arm and shake.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.", + "Grab the smooth plastic bottle and shake it steadily.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Grab the bottle with printed label using the left arm, then shake.", + "Pick up the plastic bottle with sealed yellow cap and shake it well.", + "Shake the the bottle with narrow neck properly after lifting.", + "Shake the bottle for liquids after lifting it.", + "Pick the yellow-capped plastic bottle up using the left arm and shake it.", + "Pick the bottle with narrow neck up with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the orange cylindrical bottle with the left arm and shake.", + "Using the left arm, shake the bottle with yellow cap and then place it back.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Grab the plastic bottle and move it to shake.", + "Use the left arm to lift and shake the orange bottle.", + "Take the yellow-capped plastic bottle using the left arm and give it a shake.", + "Grasp the plastic bottle with sealed yellow cap with the left arm and shake it.", + "Use the left arm to hold the medium-sized orange bottle and shake it.", + "Grab and shake the bottle with narrow neck using the left arm.", + "Use the left arm to grab the orange bottle and shake properly.", + "Grab the orange cylindrical bottle and give it a shake.", + "Grab the orange bottle with the left arm and shake.", + "Lift the orange cylindrical bottle with the left arm and shake it.", + "Hold the orange bottle, shake it briefly.", + "Shake the orange bottle using the left arm after grabbing.", + "Shake the bottle with narrow neck after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Use the left arm to pick and shake the bottle with printed label.", + "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Grab the bottle with narrow neck carefully and shake.", + "Pick up the orange bottle and shake it.", + "Shake the bottle with narrow neck after holding it firmly.", + "Secure the bottle with printed label, shake it, and place it down.", + "Shake the orange bottle after grabbing it.", + "Shake the orange cylindrical bottle firmly after grabbing.", + "Pick the bottle for liquids, shake it with the left arm.", + "Use the left arm to grab the medium-sized orange bottle and shake it.", + "Lift up the bottle with printed label using the left arm, then shake.", + "Hold and shake the the bottle with printed label carefully.", + "Catch the cylindrical orange bottle with yellow top and shake it instantly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Secure the bottle with printed label and perform a shake." + ], + "unseen": [ + "Grab the label-covered orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the handheld orange bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode104.json b/shake_bottle/ur5_randomized_500/instructions/episode104.json new file mode 100644 index 0000000000000000000000000000000000000000..72a16ce4a610fd4838feb819271105b6c6025f19 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode104.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the liquid container with orange body and shake it.", + "Hold the orange bottle and shake it properly.", + "Utilize the left arm to hold the orange bottle with bold labeling and shake it.", + "Take the cylindrical orange bottle with smooth surface using the left arm and give it a shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Use the left arm to lift and shake the rounded orange bottle with yellow top.", + "Lift the rounded bottom orange plastic bottle with the left arm and shake it.", + "Hold the handheld medium-sized liquid bottle, shake it briefly.", + "Hold and shake the the bottle with yellow cap carefully.", + "Shake the smooth orange cylindrical bottle thoroughly after grabbing it.", + "Use the left arm to grab the bottle with yellow cap and shake properly.", + "With the left arm, pick the yellow-capped orange plastic bottle and shake properly.", + "Grab the yellow-capped orange plastic bottle with the left arm and shake.", + "Pick the orange bottle and perform shaking motion.", + "Grip the orange bottle with bold labeling using the left arm and shake.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Use the left arm to pick and shake the yellow-capped orange plastic bottle.", + "Pick the rounded orange bottle with yellow top up with the left arm and shake.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Secure the cylindrical orange bottle with smooth surface and perform a shake.", + "Grab the orange bottle and move it to shake.", + "Shake the liquid container with orange body firmly after grabbing.", + "Pick up the smooth orange cylindrical bottle and shake it.", + "Pick the orange bottle with bold labeling, shake it with the left arm.", + "Use the left arm to lift and shake the yellow-capped orange plastic bottle.", + "Shake the bottle with yellow cap after lifting it.", + "Catch the yellow-capped bottle for beverages and shake it instantly.", + "Pick the small bottle with bright yellow lid up using the left arm and shake it.", + "Lift the rounded bottom orange plastic bottle and shake it thoroughly.", + "Using the left arm, shake the orange bottle with bold labeling and then place it back.", + "Lift the small bottle with bright yellow lid with the left arm and give it a shake.", + "Grasp the rounded orange bottle with yellow top with the left arm and shake it.", + "Grab the yellow-capped bottle for beverages carefully and shake.", + "Shake the cylindrical orange bottle with smooth surface after holding it firmly.", + "Use the left arm to lift and shake the smooth orange cylindrical bottle.", + "Lift up the rounded orange bottle with yellow top using the left arm, then shake.", + "Grab the smooth orange cylindrical bottle using the left arm, then shake.", + "Shake the the orange bottle with bold labeling properly after lifting.", + "Shake the bottle with yellow cap after grabbing it.", + "Grab the handheld medium-sized liquid bottle and shake it steadily.", + "Grab the orange bottle and give it a shake.", + "Secure the rounded orange bottle with yellow top, shake it, and place it down.", + "Lift the handheld medium-sized liquid bottle with the left arm and shake.", + "Shake the handheld medium-sized liquid bottle using the left arm after grabbing.", + "Grab and shake the yellow-capped orange plastic bottle using the left arm.", + "Use the left arm to hold the small bottle with bright yellow lid and shake it.", + "Shake the smooth orange cylindrical bottle after grabbing it.", + "Hold the smooth orange cylindrical bottle steady, then shake it.", + "Hold the rounded orange bottle with yellow top with the left arm and shake lightly.", + "Lift the rounded bottom orange plastic bottle and shake it gently.", + "Use the left arm to grab the small bottle with bright yellow lid and shake it.", + "Hold the yellow-capped orange plastic bottle and shake it properly.", + "Utilize the left arm to hold the rounded bottom orange plastic bottle and shake it.", + "Take the smooth orange cylindrical bottle using the left arm and give it a shake.", + "Pick up the yellow-capped bottle for beverages and shake it well.", + "Use the left arm to lift and shake the rounded bottom orange plastic bottle.", + "Lift the rounded bottom orange plastic bottle with the left arm and shake it.", + "Hold the orange bottle, shake it briefly.", + "Hold and shake the the rounded bottom orange plastic bottle carefully.", + "Shake the rounded orange bottle with yellow top thoroughly after grabbing it.", + "Use the left arm to grab the orange bottle with bold labeling and shake properly.", + "With the left arm, pick the rounded bottom orange plastic bottle and shake properly.", + "Grab the yellow-capped orange plastic bottle with the left arm and shake.", + "Pick the yellow-capped orange plastic bottle and perform shaking motion.", + "Grip the yellow-capped orange plastic bottle using the left arm and shake.", + "Shake the yellow-capped bottle for beverages after grabbing it.", + "Use the left arm to pick and shake the handheld medium-sized liquid bottle.", + "Pick the cylindrical orange bottle with smooth surface up with the left arm and shake.", + "Grab the liquid container with orange body firmly, shake it, and put it down.", + "Secure the rounded bottom orange plastic bottle and perform a shake.", + "Grab the orange bottle with bold labeling and move it to shake.", + "Shake the yellow-capped orange plastic bottle firmly after grabbing.", + "Pick up the orange bottle with bold labeling and shake it.", + "Pick the yellow-capped bottle for beverages, shake it with the left arm.", + "Use the left arm to lift and shake the smooth orange cylindrical bottle.", + "Shake the bottle with yellow cap after lifting it.", + "Catch the smooth orange cylindrical bottle and shake it instantly.", + "Pick the bottle with yellow cap up using the left arm and shake it.", + "Lift the rounded orange bottle with yellow top and shake it thoroughly.", + "Using the left arm, shake the orange bottle and then place it back.", + "Lift the orange bottle with the left arm and give it a shake.", + "Grasp the rounded orange bottle with yellow top with the left arm and shake it.", + "Grab the yellow-capped bottle for beverages carefully and shake.", + "Shake the small bottle with bright yellow lid after holding it firmly.", + "Use the left arm to lift and shake the rounded orange bottle with yellow top.", + "Lift up the small bottle with bright yellow lid using the left arm, then shake.", + "Grab the orange bottle using the left arm, then shake.", + "Shake the the orange bottle with bold labeling properly after lifting.", + "Shake the handheld medium-sized liquid bottle after grabbing it.", + "Grab the liquid container with orange body and shake it steadily.", + "Grab the orange bottle with bold labeling and give it a shake.", + "Secure the orange bottle with bold labeling, shake it, and place it down.", + "Lift the liquid container with orange body with the left arm and shake.", + "Shake the cylindrical orange bottle with smooth surface using the left arm after grabbing.", + "Grab and shake the cylindrical orange bottle with smooth surface using the left arm.", + "Use the left arm to hold the orange bottle and shake it.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Hold the small bottle with bright yellow lid steady, then shake it.", + "Hold the orange bottle with bold labeling with the left arm and shake lightly.", + "Lift the handheld medium-sized liquid bottle and shake it gently." + ], + "unseen": [ + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium plastic bottle and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Grab the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode105.json b/shake_bottle/ur5_randomized_500/instructions/episode105.json new file mode 100644 index 0000000000000000000000000000000000000000..14cad7a0304e0766ce6d73a15850911483dac91f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode105.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Grab the long thin bottle and shake it steadily.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Hold the brown bottle with red label and shake it properly.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Lift the plastic drink bottle and shake it gently.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Shake the smooth bottle with red lid after grabbing it.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "With the right arm, pick the long thin bottle and shake properly.", + "Pick up the plastic drink bottle and shake it.", + "Lift the red-capped bottle with the right arm and shake it.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Grab the smooth bottle with red lid carefully and shake.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grab the plastic drink bottle and give it a shake.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Grab the smooth bottle with red lid and move it to shake.", + "Hold and shake the the red-capped bottle carefully.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Shake the medium dark brown bottle after lifting it.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Pick the plastic drink bottle up with the right arm and shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Take the long thin bottle using the right arm and give it a shake.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Grab the narrow-necked bottle and shake it steadily.", + "Pick up the red-capped bottle and shake it well.", + "Hold the smooth bottle with red lid and shake it properly.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Pick the red-capped bottle and perform shaking motion.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab the red-capped bottle using the right arm, then shake.", + "Shake the the plastic drink bottle properly after lifting.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Shake the red-capped bottle after grabbing it.", + "Using the right arm, shake the long thin bottle and then place it back.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Pick up the narrow-necked bottle and shake it.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Shake the long thin bottle using the right arm after grabbing.", + "Grab the plastic drink bottle carefully and shake.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Use the right arm to hold the long thin bottle and shake it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Grab the bottle with white neck and red top and give it a shake.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Grab the long thin bottle and move it to shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Catch the long thin bottle and shake it instantly.", + "Pick the red-capped bottle, shake it with the right arm.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Secure the smooth bottle with red lid and perform a shake.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the plastic drink bottle after lifting it.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Shake the brown bottle with red label firmly after grabbing.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Take the smooth bottle with red lid using the right arm and give it a shake." + ], + "unseen": [ + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode106.json b/shake_bottle/ur5_randomized_500/instructions/episode106.json new file mode 100644 index 0000000000000000000000000000000000000000..bac24135261489ededf1f779c0a59835f6c1cb80 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode106.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the rounded bottom orange plastic bottle.", + "Shake the liquid container with orange body using the right arm after grabbing.", + "Lift the rounded orange bottle with yellow top and shake it gently.", + "Grip the cylindrical orange bottle with smooth surface using the right arm and shake.", + "Shake the the rounded orange bottle with yellow top properly after lifting.", + "Shake the small bottle with bright yellow lid thoroughly after grabbing it.", + "Utilize the right arm to hold the handheld medium-sized liquid bottle and shake it.", + "Pick the orange bottle with bold labeling, shake it with the right arm.", + "With the right arm, pick the orange bottle with bold labeling and shake properly.", + "Grab the small bottle with bright yellow lid with the right arm and shake.", + "Pick the yellow-capped bottle for beverages up with the right arm and shake.", + "Shake the small bottle with bright yellow lid after grabbing it.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Shake the cylindrical orange bottle with smooth surface after grabbing it.", + "Lift the handheld medium-sized liquid bottle with the right arm and shake it.", + "Shake the handheld medium-sized liquid bottle after lifting it.", + "Use the right arm to lift and shake the small bottle with bright yellow lid.", + "Shake the yellow-capped orange plastic bottle firmly after grabbing.", + "Grab the liquid container with orange body and move it to shake.", + "Grab and shake the handheld medium-sized liquid bottle using the right arm.", + "Use the right arm to grab the orange bottle with bold labeling and shake it.", + "Hold and shake the the handheld medium-sized liquid bottle carefully.", + "Use the right arm to lift and shake the yellow-capped bottle for beverages.", + "Secure the liquid container with orange body and perform a shake.", + "Lift up the rounded orange bottle with yellow top using the right arm, then shake.", + "Hold the handheld medium-sized liquid bottle and shake it properly.", + "Lift the rounded orange bottle with yellow top with the right arm and give it a shake.", + "Grab the yellow-capped bottle for beverages carefully and shake.", + "Grab the cylindrical orange bottle with smooth surface and give it a shake.", + "Pick up the small bottle with bright yellow lid and shake it well.", + "Shake the small bottle with bright yellow lid after holding it firmly.", + "Pick the yellow-capped orange plastic bottle up using the right arm and shake it.", + "Grab the rounded bottom orange plastic bottle firmly, shake it, and put it down.", + "Lift the handheld medium-sized liquid bottle with the right arm and shake.", + "Grasp the yellow-capped bottle for beverages with the right arm and shake it.", + "Pick up the rounded bottom orange plastic bottle and shake it.", + "Catch the smooth orange cylindrical bottle and shake it instantly.", + "Using the right arm, shake the liquid container with orange body and then place it back.", + "Hold the orange bottle steady, then shake it.", + "Hold the orange bottle with bold labeling, shake it briefly.", + "Lift the smooth orange cylindrical bottle and shake it thoroughly.", + "Shake the smooth orange cylindrical bottle after grabbing it.", + "Pick the yellow-capped bottle for beverages and perform shaking motion.", + "Take the yellow-capped bottle for beverages using the right arm and give it a shake.", + "Grab the yellow-capped bottle for beverages using the right arm, then shake.", + "Use the right arm to hold the yellow-capped orange plastic bottle and shake it.", + "Use the right arm to pick and shake the yellow-capped orange plastic bottle.", + "Grab the cylindrical orange bottle with smooth surface and shake it steadily.", + "Use the right arm to grab the orange bottle and shake properly.", + "Hold the orange bottle with bold labeling with the right arm and shake lightly.", + "Use the right arm to lift and shake the orange bottle with bold labeling.", + "Shake the rounded bottom orange plastic bottle using the right arm after grabbing.", + "Lift the rounded orange bottle with yellow top and shake it gently.", + "Grip the cylindrical orange bottle with smooth surface using the right arm and shake.", + "Shake the the rounded orange bottle with yellow top properly after lifting.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Utilize the right arm to hold the orange bottle and shake it.", + "Pick the yellow-capped orange plastic bottle, shake it with the right arm.", + "With the right arm, pick the yellow-capped bottle for beverages and shake properly.", + "Grab the bottle with yellow cap with the right arm and shake.", + "Pick the smooth orange cylindrical bottle up with the right arm and shake.", + "Shake the liquid container with orange body after grabbing it.", + "Secure the liquid container with orange body, shake it, and place it down.", + "Shake the handheld medium-sized liquid bottle after grabbing it.", + "Lift the bottle with yellow cap with the right arm and shake it.", + "Shake the orange bottle after lifting it.", + "Use the right arm to lift and shake the cylindrical orange bottle with smooth surface.", + "Shake the yellow-capped bottle for beverages firmly after grabbing.", + "Grab the yellow-capped bottle for beverages and move it to shake.", + "Grab and shake the yellow-capped orange plastic bottle using the right arm.", + "Use the right arm to grab the orange bottle and shake it.", + "Hold and shake the the bottle with yellow cap carefully.", + "Use the right arm to lift and shake the rounded bottom orange plastic bottle.", + "Secure the bottle with yellow cap and perform a shake.", + "Lift up the orange bottle using the right arm, then shake.", + "Hold the cylindrical orange bottle with smooth surface and shake it properly.", + "Lift the bottle with yellow cap with the right arm and give it a shake.", + "Grab the smooth orange cylindrical bottle carefully and shake.", + "Grab the handheld medium-sized liquid bottle and give it a shake.", + "Pick up the yellow-capped orange plastic bottle and shake it well.", + "Shake the liquid container with orange body after holding it firmly.", + "Pick the rounded orange bottle with yellow top up using the right arm and shake it.", + "Grab the rounded bottom orange plastic bottle firmly, shake it, and put it down.", + "Lift the bottle with yellow cap with the right arm and shake.", + "Grasp the bottle with yellow cap with the right arm and shake it.", + "Pick up the rounded bottom orange plastic bottle and shake it.", + "Catch the smooth orange cylindrical bottle and shake it instantly.", + "Using the right arm, shake the smooth orange cylindrical bottle and then place it back.", + "Hold the cylindrical orange bottle with smooth surface steady, then shake it.", + "Hold the rounded orange bottle with yellow top, shake it briefly.", + "Lift the rounded orange bottle with yellow top and shake it thoroughly.", + "Shake the smooth orange cylindrical bottle after grabbing it.", + "Pick the smooth orange cylindrical bottle and perform shaking motion.", + "Take the orange bottle using the right arm and give it a shake.", + "Grab the orange bottle with bold labeling using the right arm, then shake.", + "Use the right arm to hold the liquid container with orange body and shake it.", + "Use the right arm to pick and shake the handheld medium-sized liquid bottle.", + "Grab the smooth orange cylindrical bottle and shake it steadily.", + "Use the right arm to grab the handheld medium-sized liquid bottle and shake properly.", + "Hold the rounded bottom orange plastic bottle with the right arm and shake lightly." + ], + "unseen": [ + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to pick the medium plastic bottle.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to pick the medium bottle for liquids.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to pick the medium plastic bottle.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to pick the medium bottle for liquids.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Grab the medium plastic bottle and give it a shake.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Grab the medium plastic bottle and give it a shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to pick the medium bottle for liquids.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Grab the medium plastic bottle and give it a shake.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to pick the medium plastic bottle.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode107.json b/shake_bottle/ur5_randomized_500/instructions/episode107.json new file mode 100644 index 0000000000000000000000000000000000000000..3b0b7adeedd195715f3817e85e5c71c2e6b94ab2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode107.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle with printed label with the left arm and shake.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "Lift up the medium bottle with smooth texture using the left arm, then shake.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "Grab the rounded bottle with printed details using the left arm, then shake.", + "Shake the the bottle with white cap properly after lifting.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Grab the bottle with white cap and move it to shake.", + "Shake the rounded bottle with printed details firmly after grabbing.", + "Shake the bottle with dark brown color after grabbing it.", + "Grasp the medium plastic bottle with the left arm and shake it.", + "Utilize the left arm to hold the rounded bottle with printed details and shake it.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Secure the white-capped brown cylindrical bottle, shake it, and place it down.", + "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.", + "Grab the rounded bottle with printed details and give it a shake.", + "Pick up the rounded bottle with printed details and shake it.", + "Lift the medium plastic bottle with the left arm and shake it.", + "Shake the medium plastic bottle after holding it firmly.", + "Lift the bottle with dark brown color with the left arm and give it a shake.", + "Pick the medium plastic bottle and perform shaking motion.", + "Pick the white-capped brown cylindrical bottle up with the left arm and shake.", + "Grab and shake the bottle with white cap using the left arm.", + "Pick the medium plastic bottle up using the left arm and shake it.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Use the left arm to hold the plastic bottle for liquids and shake it.", + "Use the left arm to grab the smooth brown bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Using the left arm, shake the plastic bottle with printed label and then place it back.", + "Shake the medium plastic bottle after grabbing it.", + "Hold the bottle with dark brown color steady, then shake it.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Pick up the handheld brown bottle with white lid and shake it well.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Shake the rounded bottle with printed details after lifting it.", + "With the left arm, pick the plastic bottle for liquids and shake properly.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Secure the rounded bottle with printed details and perform a shake.", + "Shake the bottle with brown body and white top using the left arm after grabbing.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Pick the white-capped brown cylindrical bottle, shake it with the left arm.", + "Hold the plastic bottle for liquids and shake it properly.", + "Use the left arm to pick and shake the bottle with white cap.", + "Lift the medium bottle with smooth texture with the left arm and shake.", + "Grab the handheld brown bottle with white lid with the left arm and shake.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Grip the cylindrical bottle with narrow neck using the left arm and shake.", + "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.", + "Hold and shake the the medium plastic bottle carefully.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Lift the smooth brown bottle and shake it thoroughly.", + "Grab the medium plastic bottle using the left arm, then shake.", + "Shake the the medium bottle with smooth texture properly after lifting.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "Grab the bottle with white cap carefully and shake.", + "Grab the bottle with dark brown color and move it to shake.", + "Shake the rounded bottle with printed details firmly after grabbing.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Grasp the plastic bottle with printed label with the left arm and shake it.", + "Utilize the left arm to hold the bottle with white cap and shake it.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Take the cylindrical bottle with narrow neck using the left arm and give it a shake.", + "Grab the white-capped brown cylindrical bottle and give it a shake.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Lift the plastic bottle for liquids with the left arm and shake it.", + "Shake the bottle with dark brown color after holding it firmly.", + "Lift the cylindrical bottle with narrow neck with the left arm and give it a shake.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Pick the cylindrical bottle with narrow neck up with the left arm and shake.", + "Grab and shake the smooth brown bottle using the left arm.", + "Pick the handheld brown bottle with white lid up using the left arm and shake it.", + "Grab the bottle with brown body and white top and shake it steadily.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Use the left arm to grab the plastic bottle for liquids and shake it.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Using the left arm, shake the plastic bottle with printed label and then place it back.", + "Shake the bottle with brown body and white top after grabbing it.", + "Hold the medium plastic bottle steady, then shake it.", + "Lift the bottle with white cap and shake it gently.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Hold the plastic bottle for liquids with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Shake the white-capped brown cylindrical bottle after lifting it.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Use the left arm to grab the smooth brown bottle and shake properly.", + "Secure the rounded bottle with printed details and perform a shake.", + "Shake the medium bottle with smooth texture using the left arm after grabbing.", + "Hold the handheld brown bottle with white lid, shake it briefly.", + "Shake the bottle with white cap after grabbing it.", + "Pick the smooth brown bottle, shake it with the left arm.", + "Hold the plastic bottle with printed label and shake it properly.", + "Use the left arm to pick and shake the rounded bottle with printed details.", + "Lift the bottle with brown body and white top with the left arm and shake." + ], + "unseen": [ + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode108.json b/shake_bottle/ur5_randomized_500/instructions/episode108.json new file mode 100644 index 0000000000000000000000000000000000000000..79251e593abad8d80715d202c8b5b62cc47604f7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode108.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Grab the drink bottle with rounded yellow lid carefully and shake.", + "Use the right arm to grab the plastic bottle with colorful label and shake it.", + "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.", + "Shake the bottle with blue and yellow print after lifting it.", + "Grab the plastic bottle with colorful label using the right arm, then shake.", + "Use the right arm to grab the medium black bottle with printed label and shake properly.", + "With the right arm, pick the medium bottle with yellow cap and shake properly.", + "Pick up the bottle with blue and yellow print and shake it.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Shake the medium bottle with yellow cap using the right arm after grabbing.", + "Lift the beverage bottle with black body with the right arm and shake it.", + "Take the black bottle using the right arm and give it a shake.", + "Shake the yellow capped drink bottle after grabbing it.", + "Pick the black cylindrical bottle with ridges, shake it with the right arm.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Grip the medium black bottle with printed label using the right arm and shake.", + "Pick up the beverage bottle with black body and shake it well.", + "Lift up the black plastic bottle with Pepsi logo using the right arm, then shake.", + "Hold the plastic bottle with colorful label steady, then shake it.", + "Utilize the right arm to hold the plastic bottle with colorful label and shake it.", + "Lift the drink bottle with rounded yellow lid with the right arm and give it a shake.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Grab the medium black bottle with printed label and shake it steadily.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Using the right arm, shake the drink bottle with rounded yellow lid and then place it back.", + "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.", + "Grab the beverage bottle with black body and move it to shake.", + "Use the right arm to lift and shake the medium bottle with yellow cap.", + "Pick the black cylindrical bottle with ridges up using the right arm and shake it.", + "Lift the black plastic bottle with Pepsi logo with the right arm and shake.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Shake the plastic bottle with colorful label after holding it firmly.", + "Shake the bottle with blue and yellow print thoroughly after grabbing it.", + "Use the right arm to pick and shake the drink bottle with rounded yellow lid.", + "Grasp the beverage bottle with black body with the right arm and shake it.", + "Hold the beverage bottle with black body, shake it briefly.", + "Use the right arm to lift and shake the black cylindrical bottle with ridges.", + "Catch the yellow-capped cylindrical bottle and shake it instantly.", + "Shake the drink bottle with rounded yellow lid firmly after grabbing.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Pick the yellow capped drink bottle up with the right arm and shake.", + "Grab and shake the yellow capped drink bottle using the right arm.", + "Pick the black cylindrical bottle with ridges and perform shaking motion.", + "Grab the black plastic bottle with Pepsi logo firmly, shake it, and put it down.", + "Grab the black bottle with the right arm and shake.", + "Lift the plastic bottle with colorful label and shake it gently.", + "Hold the yellow-capped cylindrical bottle and shake it properly.", + "Secure the drink bottle with rounded yellow lid and perform a shake.", + "Grab the black bottle and give it a shake.", + "Grab the black bottle carefully and shake.", + "Use the right arm to grab the medium black bottle with printed label and shake it.", + "Use the right arm to hold the medium black bottle with printed label and shake it.", + "Shake the black bottle after lifting it.", + "Grab the yellow-capped cylindrical bottle using the right arm, then shake.", + "Use the right arm to grab the drink bottle with rounded yellow lid and shake properly.", + "With the right arm, pick the plastic bottle with colorful label and shake properly.", + "Pick up the bottle with blue and yellow print and shake it.", + "Lift the black bottle and shake it thoroughly.", + "Shake the bottle with blue and yellow print using the right arm after grabbing.", + "Lift the smooth black bottle with ridges with the right arm and shake it.", + "Take the bottle with blue and yellow print using the right arm and give it a shake.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Pick the black bottle, shake it with the right arm.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Grip the yellow capped drink bottle using the right arm and shake.", + "Pick up the yellow-capped cylindrical bottle and shake it well.", + "Lift up the medium bottle with yellow cap using the right arm, then shake.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Utilize the right arm to hold the plastic bottle with colorful label and shake it.", + "Lift the black cylindrical bottle with ridges with the right arm and give it a shake.", + "Hold and shake the the medium black bottle with printed label carefully.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Using the right arm, shake the medium bottle with yellow cap and then place it back.", + "Hold the yellow capped drink bottle with the right arm and shake lightly.", + "Grab the black plastic bottle with Pepsi logo and move it to shake.", + "Use the right arm to lift and shake the medium bottle with yellow cap.", + "Pick the beverage bottle with black body up using the right arm and shake it.", + "Lift the smooth black bottle with ridges with the right arm and shake.", + "Shake the the medium bottle with yellow cap properly after lifting.", + "Shake the drink bottle with rounded yellow lid after holding it firmly.", + "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.", + "Use the right arm to pick and shake the black bottle.", + "Grasp the medium black bottle with printed label with the right arm and shake it.", + "Hold the medium bottle with yellow cap, shake it briefly.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Catch the black bottle and shake it instantly.", + "Shake the yellow-capped cylindrical bottle firmly after grabbing.", + "Secure the yellow capped drink bottle, shake it, and place it down.", + "Pick the black bottle up with the right arm and shake.", + "Grab and shake the bottle with blue and yellow print using the right arm.", + "Pick the black cylindrical bottle with ridges and perform shaking motion.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Grab the plastic bottle with colorful label with the right arm and shake.", + "Lift the black bottle and shake it gently.", + "Hold the yellow capped drink bottle and shake it properly.", + "Secure the plastic bottle with colorful label and perform a shake." + ], + "unseen": [ + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode109.json b/shake_bottle/ur5_randomized_500/instructions/episode109.json new file mode 100644 index 0000000000000000000000000000000000000000..46179f06208fed90688e34b2692c6bd3b855265f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode109.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the green bottle with the right arm and shake lightly.", + "Grab the medium bottle with green body carefully and shake.", + "Grab the bottle with glossy plastic finish and give it a shake.", + "Use the right arm to grab the medium bottle with green body and shake it.", + "Catch the cylindrical liquid bottle with yellow top and shake it instantly.", + "Grab the bottle with glossy plastic finish with the right arm and shake.", + "Hold the smooth green and yellow bottle, shake it briefly.", + "Lift the green bottle with white label and shake it thoroughly.", + "Grip the smooth green and yellow bottle using the right arm and shake.", + "Utilize the right arm to hold the medium bottle with green body and shake it.", + "Shake the cylindrical liquid bottle with yellow top firmly after grabbing.", + "Pick the bottle with glossy plastic finish and perform shaking motion.", + "Shake the medium bottle with green body thoroughly after grabbing it.", + "Shake the cylindrical bottle with rounded cap after lifting it.", + "Hold and shake the the plastic bottle carefully.", + "Pick the medium bottle with green body up with the right arm and shake.", + "Secure the medium bottle with green body, shake it, and place it down.", + "Shake the plastic bottle with colored label after holding it firmly.", + "Pick the plastic bottle with colored label, shake it with the right arm.", + "Secure the medium bottle with green body and perform a shake.", + "Use the right arm to hold the plastic bottle with colored label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Lift the green bottle with white label with the right arm and shake.", + "With the right arm, pick the green bottle with black text label and shake properly.", + "Hold the green bottle steady, then shake it.", + "Shake the plastic bottle with colored label after grabbing it.", + "Use the right arm to lift and shake the smooth green and yellow bottle.", + "Shake the bottle with glossy plastic finish after grabbing it.", + "Grab the green bottle with white label firmly, shake it, and put it down.", + "Lift up the smooth green and yellow bottle using the right arm, then shake.", + "Hold the green bottle with white label and shake it properly.", + "Lift the plastic bottle with colored label and shake it gently.", + "Pick the green bottle with white label up using the right arm and shake it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grab and shake the cylindrical bottle with rounded cap using the right arm.", + "Shake the bottle with glossy plastic finish using the right arm after grabbing.", + "Grab the green bottle with white label and shake it steadily.", + "Grasp the medium bottle with green body with the right arm and shake it.", + "Lift the smooth green and yellow bottle with the right arm and shake it.", + "Grab the green bottle and move it to shake.", + "Use the right arm to pick and shake the bottle with glossy plastic finish.", + "Take the plastic bottle with colored label using the right arm and give it a shake.", + "Pick up the cylindrical liquid bottle with yellow top and shake it well.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Shake the the medium bottle with green body properly after lifting.", + "Grab the smooth green and yellow bottle using the right arm, then shake.", + "Hold the green bottle with the right arm and shake lightly.", + "Grab the cylindrical bottle with rounded cap carefully and shake.", + "Grab the cylindrical bottle with rounded cap and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Grab the plastic bottle with the right arm and shake.", + "Hold the cylindrical bottle with rounded cap, shake it briefly.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Grip the cylindrical liquid bottle with yellow top using the right arm and shake.", + "Utilize the right arm to hold the medium bottle with green body and shake it.", + "Shake the green bottle with black text label firmly after grabbing.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Shake the green bottle with white label thoroughly after grabbing it.", + "Shake the green bottle after lifting it.", + "Hold and shake the the green bottle carefully.", + "Pick the green bottle with white label up with the right arm and shake.", + "Secure the cylindrical liquid bottle with yellow top, shake it, and place it down.", + "Shake the green bottle with black text label after holding it firmly.", + "Pick the plastic bottle with colored label, shake it with the right arm.", + "Secure the cylindrical bottle with rounded cap and perform a shake.", + "Use the right arm to hold the green bottle with black text label and shake it.", + "Pick up the bottle with yellow cap and shake it.", + "Shake the green bottle with white label after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to grab the bottle with glossy plastic finish and shake properly.", + "Lift the plastic bottle with the right arm and shake.", + "With the right arm, pick the cylindrical bottle with rounded cap and shake properly.", + "Hold the cylindrical liquid bottle with yellow top steady, then shake it.", + "Shake the medium bottle with green body after grabbing it.", + "Use the right arm to lift and shake the medium bottle with green body.", + "Shake the plastic bottle with colored label after grabbing it.", + "Grab the cylindrical liquid bottle with yellow top firmly, shake it, and put it down.", + "Lift up the medium bottle with green body using the right arm, then shake.", + "Hold the plastic bottle with colored label and shake it properly.", + "Lift the bottle with yellow cap and shake it gently.", + "Pick the bottle with yellow cap up using the right arm and shake it.", + "Lift the medium bottle with green body with the right arm and give it a shake.", + "Grab and shake the bottle with glossy plastic finish using the right arm.", + "Shake the handheld plastic bottle using the right arm after grabbing.", + "Grab the green bottle and shake it steadily.", + "Grasp the bottle with yellow cap with the right arm and shake it.", + "Lift the green bottle with black text label with the right arm and shake it.", + "Grab the green bottle and move it to shake.", + "Use the right arm to pick and shake the plastic bottle.", + "Take the green bottle using the right arm and give it a shake.", + "Pick up the bottle with glossy plastic finish and shake it well.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to lift and shake the cylindrical bottle with rounded cap.", + "Shake the the cylindrical bottle with rounded cap properly after lifting.", + "Grab the green bottle with white label using the right arm, then shake." + ], + "unseen": [ + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode11.json b/shake_bottle/ur5_randomized_500/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..0146729d58929aab338bece6a74b3aa9063b135c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with white cap, shake it, and place it down.", + "Grip the medium plastic bottle using the left arm and shake.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Grab the plastic bottle for liquids and give it a shake.", + "Hold the bottle with white cap with the left arm and shake lightly.", + "Shake the medium plastic bottle after grabbing it.", + "Pick the medium bottle with smooth texture up with the left arm and shake.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grab the plastic bottle for liquids with the left arm and shake.", + "With the left arm, pick the medium bottle with smooth texture and shake properly.", + "Grab the smooth brown bottle carefully and shake.", + "Using the left arm, shake the bottle with white cap and then place it back.", + "Pick up the rounded bottle with printed details and shake it.", + "Shake the bottle with brown body and white top after grabbing it.", + "Shake the white-capped brown cylindrical bottle after lifting it.", + "Grab the medium bottle with smooth texture using the left arm, then shake.", + "Lift the plastic bottle with printed label and shake it gently.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Lift up the cylindrical bottle with narrow neck using the left arm, then shake.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Grab the bottle with brown body and white top firmly, shake it, and put it down.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Grasp the rounded bottle with printed details with the left arm and shake it.", + "Use the left arm to hold the bottle with brown body and white top and shake it.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Utilize the left arm to hold the medium plastic bottle and shake it.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Secure the plastic bottle with printed label and perform a shake.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Shake the the medium bottle with smooth texture properly after lifting.", + "Pick the medium plastic bottle and perform shaking motion.", + "Lift the medium plastic bottle with the left arm and shake it.", + "Grab the handheld brown bottle with white lid and shake it steadily.", + "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Shake the plastic bottle for liquids using the left arm after grabbing.", + "Use the left arm to pick and shake the plastic bottle with printed label.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake it.", + "Pick the bottle with white cap, shake it with the left arm.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Take the rounded bottle with printed details using the left arm and give it a shake.", + "Lift the medium bottle with smooth texture with the left arm and shake.", + "Hold the bottle with white cap, shake it briefly.", + "Grab the bottle with brown body and white top and move it to shake.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Grab and shake the white-capped brown cylindrical bottle using the left arm.", + "Shake the plastic bottle with printed label after holding it firmly.", + "Shake the medium plastic bottle firmly after grabbing.", + "Secure the medium plastic bottle, shake it, and place it down.", + "Grip the medium bottle with smooth texture using the left arm and shake.", + "Pick up the bottle with white cap and shake it well.", + "Grab the bottle with dark brown color and give it a shake.", + "Hold the handheld brown bottle with white lid with the left arm and shake lightly.", + "Shake the rounded bottle with printed details after grabbing it.", + "Pick the bottle with white cap up with the left arm and shake.", + "Shake the medium plastic bottle after grabbing it.", + "Grab the plastic bottle with printed label with the left arm and shake.", + "With the left arm, pick the medium plastic bottle and shake properly.", + "Grab the bottle with dark brown color carefully and shake.", + "Using the left arm, shake the white-capped brown cylindrical bottle and then place it back.", + "Pick up the plastic bottle for liquids and shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Shake the plastic bottle with printed label after lifting it.", + "Grab the medium plastic bottle using the left arm, then shake.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Hold the bottle with dark brown color steady, then shake it.", + "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Pick the rounded bottle with printed details up using the left arm and shake it.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Grasp the plastic bottle for liquids with the left arm and shake it.", + "Use the left arm to hold the handheld brown bottle with white lid and shake it.", + "Use the left arm to grab the handheld brown bottle with white lid and shake properly.", + "Utilize the left arm to hold the rounded bottle with printed details and shake it.", + "Hold the bottle with brown body and white top and shake it properly.", + "Secure the plastic bottle for liquids and perform a shake.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Lift the handheld brown bottle with white lid with the left arm and shake it.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Shake the handheld brown bottle with white lid using the left arm after grabbing.", + "Use the left arm to pick and shake the rounded bottle with printed details.", + "Use the left arm to grab the rounded bottle with printed details and shake it.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Take the bottle with brown body and white top using the left arm and give it a shake.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Grab the cylindrical bottle with narrow neck and move it to shake.", + "Lift the medium plastic bottle with the left arm and give it a shake.", + "Grab and shake the plastic bottle with printed label using the left arm.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Shake the medium plastic bottle firmly after grabbing." + ], + "unseen": [ + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode110.json b/shake_bottle/ur5_randomized_500/instructions/episode110.json new file mode 100644 index 0000000000000000000000000000000000000000..bd1191c6225c395d83a4a1aa31a25e09762d20a3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode110.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the orange bottle with bold labeling firmly after grabbing.", + "Grasp the orange bottle with the left arm and shake it.", + "Use the left arm to hold the cylindrical orange bottle with smooth surface and shake it.", + "Pick the orange bottle with bold labeling, shake it with the left arm.", + "Using the left arm, shake the small bottle with bright yellow lid and then place it back.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Grip the yellow-capped bottle for beverages using the left arm and shake.", + "Grab the rounded orange bottle with yellow top carefully and shake.", + "Grab the rounded bottom orange plastic bottle and move it to shake.", + "Use the left arm to grab the rounded bottom orange plastic bottle and shake properly.", + "Use the left arm to pick and shake the small bottle with bright yellow lid.", + "Grab the yellow-capped bottle for beverages with the left arm and shake.", + "Shake the orange bottle after grabbing it.", + "Shake the small bottle with bright yellow lid after grabbing it.", + "Pick up the liquid container with orange body and shake it.", + "Pick up the small bottle with bright yellow lid and shake it well.", + "Lift the smooth orange cylindrical bottle and shake it gently.", + "Shake the orange bottle with bold labeling after holding it firmly.", + "Grab the orange bottle and give it a shake.", + "Use the left arm to lift and shake the small bottle with bright yellow lid.", + "Pick the orange bottle up using the left arm and shake it.", + "Lift the liquid container with orange body with the left arm and shake.", + "Shake the yellow-capped bottle for beverages using the left arm after grabbing.", + "Hold the small bottle with bright yellow lid and shake it properly.", + "Hold the bottle with yellow cap steady, then shake it.", + "Lift the cylindrical orange bottle with smooth surface with the left arm and shake it.", + "Lift up the cylindrical orange bottle with smooth surface using the left arm, then shake.", + "Take the liquid container with orange body using the left arm and give it a shake.", + "Catch the rounded bottom orange plastic bottle and shake it instantly.", + "Shake the yellow-capped orange plastic bottle after lifting it.", + "Use the left arm to grab the bottle with yellow cap and shake it.", + "Shake the liquid container with orange body after grabbing it.", + "Use the left arm to lift and shake the cylindrical orange bottle with smooth surface.", + "Hold and shake the the liquid container with orange body carefully.", + "Grab the liquid container with orange body and shake it steadily.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Secure the cylindrical orange bottle with smooth surface and perform a shake.", + "Grab and shake the rounded bottom orange plastic bottle using the left arm.", + "Lift the rounded orange bottle with yellow top and shake it thoroughly.", + "Shake the the smooth orange cylindrical bottle properly after lifting.", + "Secure the orange bottle, shake it, and place it down.", + "Shake the cylindrical orange bottle with smooth surface thoroughly after grabbing it.", + "Hold the bottle with yellow cap with the left arm and shake lightly.", + "Utilize the left arm to hold the small bottle with bright yellow lid and shake it.", + "Grab the liquid container with orange body using the left arm, then shake.", + "Pick the liquid container with orange body and perform shaking motion.", + "Hold the small bottle with bright yellow lid, shake it briefly.", + "Lift the bottle with yellow cap with the left arm and give it a shake.", + "With the left arm, pick the orange bottle with bold labeling and shake properly.", + "Pick the orange bottle up with the left arm and shake.", + "Shake the liquid container with orange body firmly after grabbing.", + "Grasp the orange bottle with bold labeling with the left arm and shake it.", + "Use the left arm to hold the rounded bottom orange plastic bottle and shake it.", + "Pick the rounded bottom orange plastic bottle, shake it with the left arm.", + "Using the left arm, shake the yellow-capped bottle for beverages and then place it back.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Grip the yellow-capped bottle for beverages using the left arm and shake.", + "Grab the small bottle with bright yellow lid carefully and shake.", + "Grab the small bottle with bright yellow lid and move it to shake.", + "Use the left arm to grab the liquid container with orange body and shake properly.", + "Use the left arm to pick and shake the liquid container with orange body.", + "Grab the orange bottle with bold labeling with the left arm and shake.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Pick up the small bottle with bright yellow lid and shake it.", + "Pick up the orange bottle and shake it well.", + "Lift the small bottle with bright yellow lid and shake it gently.", + "Shake the liquid container with orange body after holding it firmly.", + "Grab the cylindrical orange bottle with smooth surface and give it a shake.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Pick the yellow-capped bottle for beverages up using the left arm and shake it.", + "Lift the cylindrical orange bottle with smooth surface with the left arm and shake.", + "Shake the yellow-capped orange plastic bottle using the left arm after grabbing.", + "Hold the cylindrical orange bottle with smooth surface and shake it properly.", + "Hold the yellow-capped orange plastic bottle steady, then shake it.", + "Lift the smooth orange cylindrical bottle with the left arm and shake it.", + "Lift up the cylindrical orange bottle with smooth surface using the left arm, then shake.", + "Take the cylindrical orange bottle with smooth surface using the left arm and give it a shake.", + "Catch the small bottle with bright yellow lid and shake it instantly.", + "Shake the handheld medium-sized liquid bottle after lifting it.", + "Use the left arm to grab the orange bottle with bold labeling and shake it.", + "Shake the rounded orange bottle with yellow top after grabbing it.", + "Use the left arm to lift and shake the smooth orange cylindrical bottle.", + "Hold and shake the the smooth orange cylindrical bottle carefully.", + "Grab the smooth orange cylindrical bottle and shake it steadily.", + "Grab the rounded orange bottle with yellow top firmly, shake it, and put it down.", + "Secure the liquid container with orange body and perform a shake.", + "Grab and shake the cylindrical orange bottle with smooth surface using the left arm.", + "Lift the small bottle with bright yellow lid and shake it thoroughly.", + "Shake the the smooth orange cylindrical bottle properly after lifting.", + "Secure the smooth orange cylindrical bottle, shake it, and place it down.", + "Shake the rounded orange bottle with yellow top thoroughly after grabbing it.", + "Hold the cylindrical orange bottle with smooth surface with the left arm and shake lightly.", + "Utilize the left arm to hold the yellow-capped bottle for beverages and shake it.", + "Grab the bottle with yellow cap using the left arm, then shake.", + "Pick the orange bottle and perform shaking motion.", + "Hold the yellow-capped bottle for beverages, shake it briefly.", + "Lift the small bottle with bright yellow lid with the left arm and give it a shake.", + "With the left arm, pick the small bottle with bright yellow lid and shake properly.", + "Pick the rounded bottom orange plastic bottle up with the left arm and shake." + ], + "unseen": [ + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the medium bottle for liquids and shake it.", + "Grab the medium bottle for liquids and give it a shake.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium bottle for liquids and give it a shake.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Grab the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the medium plastic bottle and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Grab the medium plastic bottle and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the medium plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode111.json b/shake_bottle/ur5_randomized_500/instructions/episode111.json new file mode 100644 index 0000000000000000000000000000000000000000..910789d3a194ec8bbd663036a2b1a25abe2d20cd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode111.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the rounded bottle with printed details up with the right arm and shake.", + "Utilize the right arm to hold the cylindrical bottle with narrow neck and shake it.", + "Using the right arm, shake the white-capped brown cylindrical bottle and then place it back.", + "Use the right arm to grab the smooth brown bottle and shake it.", + "Use the right arm to pick and shake the bottle with brown body and white top.", + "Grip the white-capped brown cylindrical bottle using the right arm and shake.", + "Lift the handheld brown bottle with white lid with the right arm and give it a shake.", + "Shake the plastic bottle for liquids using the right arm after grabbing.", + "Grab the bottle with brown body and white top and move it to shake.", + "Secure the handheld brown bottle with white lid and perform a shake.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Use the right arm to grab the plastic bottle with printed label and shake properly.", + "Use the right arm to lift and shake the bottle with dark brown color.", + "Hold the bottle with brown body and white top with the right arm and shake lightly.", + "Take the plastic bottle with printed label using the right arm and give it a shake.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift the bottle with white cap with the right arm and shake it.", + "Shake the rounded bottle with printed details firmly after grabbing.", + "Lift the rounded bottle with printed details and shake it gently.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Hold and shake the the smooth brown bottle carefully.", + "Secure the bottle with dark brown color, shake it, and place it down.", + "Grab the bottle with brown body and white top using the right arm, then shake.", + "Pick up the bottle with brown body and white top and shake it.", + "Use the right arm to hold the smooth brown bottle and shake it.", + "Grab and shake the bottle with brown body and white top using the right arm.", + "With the right arm, pick the bottle with brown body and white top and shake properly.", + "Pick the cylindrical bottle with narrow neck, shake it with the right arm.", + "Lift the plastic bottle for liquids with the right arm and shake.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Grab the bottle with dark brown color with the right arm and shake.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Shake the medium bottle with smooth texture after lifting it.", + "Grab the handheld brown bottle with white lid and give it a shake.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Pick the medium plastic bottle and perform shaking motion.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Pick the handheld brown bottle with white lid up using the right arm and shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Lift up the plastic bottle for liquids using the right arm, then shake.", + "Grasp the plastic bottle for liquids with the right arm and shake it.", + "Hold the smooth brown bottle steady, then shake it.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Pick up the bottle with white cap and shake it well.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "Grab the plastic bottle with printed label carefully and shake.", + "Pick the bottle with brown body and white top up with the right arm and shake.", + "Utilize the right arm to hold the bottle with white cap and shake it.", + "Using the right arm, shake the rounded bottle with printed details and then place it back.", + "Use the right arm to grab the medium bottle with smooth texture and shake it.", + "Use the right arm to pick and shake the handheld brown bottle with white lid.", + "Grip the cylindrical bottle with narrow neck using the right arm and shake.", + "Lift the handheld brown bottle with white lid with the right arm and give it a shake.", + "Shake the medium plastic bottle using the right arm after grabbing.", + "Grab the white-capped brown cylindrical bottle and move it to shake.", + "Secure the smooth brown bottle and perform a shake.", + "Shake the bottle with dark brown color after grabbing it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Shake the the smooth brown bottle properly after lifting.", + "Use the right arm to grab the medium plastic bottle and shake properly.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Hold the rounded bottle with printed details with the right arm and shake lightly.", + "Take the plastic bottle for liquids using the right arm and give it a shake.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift the bottle with white cap with the right arm and shake it.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Hold and shake the the medium bottle with smooth texture carefully.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Grab the plastic bottle for liquids using the right arm, then shake.", + "Pick up the bottle with brown body and white top and shake it.", + "Use the right arm to hold the bottle with white cap and shake it.", + "Grab and shake the medium plastic bottle using the right arm.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Pick the bottle with brown body and white top, shake it with the right arm.", + "Lift the bottle with brown body and white top with the right arm and shake.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Grab the handheld brown bottle with white lid with the right arm and shake.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "Hold the plastic bottle for liquids, shake it briefly.", + "Shake the plastic bottle for liquids after lifting it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Catch the bottle with white cap and shake it instantly.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Pick the white-capped brown cylindrical bottle up using the right arm and shake it.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Lift up the plastic bottle with printed label using the right arm, then shake.", + "Grasp the medium plastic bottle with the right arm and shake it.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "Lift the bottle with white cap and shake it thoroughly.", + "Grab the cylindrical bottle with narrow neck carefully and shake." + ], + "unseen": [ + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode112.json b/shake_bottle/ur5_randomized_500/instructions/episode112.json new file mode 100644 index 0000000000000000000000000000000000000000..ea2dc20ab0e1f52a2231cd59ad52549930210cb5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode112.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow container with rounded edges and shake it gently.", + "Pick the smooth bottle with rounded edges, shake it with the right arm.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Lift up the bottle with a smooth plastic body using the right arm, then shake.", + "Using the right arm, shake the smooth bottle with rounded edges and then place it back.", + "Secure the bottle with a smooth plastic body, shake it, and place it down.", + "Hold the bottle with white cap steady, then shake it.", + "Grab the bottle with green and white labels carefully and shake.", + "Catch the bottle with white cap and shake it instantly.", + "Take the bottle with green and white labels using the right arm and give it a shake.", + "Grab the yellow bottle with a green design with the right arm and shake.", + "Shake the yellow bottle with a green design using the right arm after grabbing.", + "Pick the yellow bottle with a green design up using the right arm and shake it.", + "Hold the smooth bottle with rounded edges with the right arm and shake lightly.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Shake the yellow bottle with a green design after grabbing it.", + "Pick up the bottle with white cap and shake it.", + "With the right arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Lift the bottle with white cap with the right arm and shake it.", + "Use the right arm to grab the medium rectangular yellow bottle and shake properly.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Hold the bottle with green label, shake it briefly.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Shake the the yellow plastic bottle with white top properly after lifting.", + "Shake the yellow container with rounded edges thoroughly after grabbing it.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Grip the bottle with green and white labels using the right arm and shake.", + "Lift the yellow plastic bottle with white top with the right arm and shake.", + "Use the right arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Pick the bottle with white cap up with the right arm and shake.", + "Pick up the yellow bottle and shake it well.", + "Grasp the bottle with green label with the right arm and shake it.", + "Use the right arm to grab the medium rectangular yellow bottle and shake it.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Grab and shake the bottle with white cap using the right arm.", + "Shake the bottle with green and white labels after holding it firmly.", + "Shake the rectangular bottle with cylindrical neck after lifting it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the yellow bottle firmly after grabbing.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Hold the bottle with green and white labels and shake it properly.", + "Utilize the right arm to hold the bottle with white cap and shake it.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Secure the yellow container with rounded edges and perform a shake.", + "Grab the yellow plastic bottle with white top using the right arm, then shake.", + "Use the right arm to pick and shake the plastic bottle.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Lift the plastic bottle and shake it gently.", + "Pick the yellow plastic bottle with white top, shake it with the right arm.", + "Pick the bottle with white cap and perform shaking motion.", + "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.", + "Lift up the yellow plastic bottle with white top using the right arm, then shake.", + "Using the right arm, shake the bottle with green label and then place it back.", + "Secure the bottle with green label, shake it, and place it down.", + "Hold the bottle with white cap steady, then shake it.", + "Grab the yellow container with rounded edges carefully and shake.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Take the yellow bottle using the right arm and give it a shake.", + "Grab the bottle with a smooth plastic body with the right arm and shake.", + "Shake the smooth bottle with rounded edges using the right arm after grabbing.", + "Pick the yellow plastic bottle with white top up using the right arm and shake it.", + "Hold the bottle with green and white labels with the right arm and shake lightly.", + "Hold and shake the the bottle with green label carefully.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Pick up the bottle with a smooth plastic body and shake it.", + "With the right arm, pick the smooth bottle with rounded edges and shake properly.", + "Grab the bottle with white cap and give it a shake.", + "Lift the bottle with green and white labels with the right arm and shake it.", + "Use the right arm to grab the yellow bottle with a green design and shake properly.", + "Lift the medium rectangular yellow bottle and shake it thoroughly.", + "Hold the bottle with white cap, shake it briefly.", + "Grab the bottle with white cap and move it to shake.", + "Shake the the bottle with a smooth plastic body properly after lifting.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.", + "Grip the bottle with a smooth plastic body using the right arm and shake.", + "Lift the yellow bottle with the right arm and shake.", + "Use the right arm to hold the medium rectangular yellow bottle and shake it.", + "Pick the yellow bottle with a green design up with the right arm and shake.", + "Pick up the bottle with a smooth plastic body and shake it well.", + "Grasp the bottle with a smooth plastic body with the right arm and shake it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Grab and shake the yellow container with rounded edges using the right arm.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Lift the yellow container with rounded edges with the right arm and give it a shake.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Hold the bottle with green and white labels and shake it properly.", + "Utilize the right arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Grab the plastic bottle using the right arm, then shake.", + "Use the right arm to pick and shake the yellow container with rounded edges.", + "Shake the yellow container with rounded edges after grabbing it." + ], + "unseen": [ + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode113.json b/shake_bottle/ur5_randomized_500/instructions/episode113.json new file mode 100644 index 0000000000000000000000000000000000000000..2854811e2346c9d33bfa694dc5883cf51c37241f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode113.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium-sized orange bottle after grabbing it.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Secure the bottle with printed label and perform a shake.", + "Lift the orange bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Grab the orange bottle using the right arm, then shake.", + "Shake the bottle with narrow neck after holding it firmly.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Shake the bottle with printed label using the right arm after grabbing.", + "Hold the plastic bottle and shake it properly.", + "Hold and shake the the plastic bottle carefully.", + "Use the right arm to pick and shake the cylindrical orange bottle with yellow top.", + "Hold the smooth plastic bottle, shake it briefly.", + "Use the right arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Lift the orange bottle and shake it thoroughly.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Use the right arm to lift and shake the bottle for liquids.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Pick the bottle with narrow neck up with the right arm and shake.", + "Grab the bottle with yellow cap carefully and shake.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Lift the bottle with yellow cap with the right arm and shake it.", + "Hold the cylindrical orange bottle with yellow top steady, then shake it.", + "Grab the orange cylindrical bottle and give it a shake.", + "Grab the bottle with yellow cap with the right arm and shake.", + "Pick the plastic bottle with sealed yellow cap and perform shaking motion.", + "Utilize the right arm to hold the orange cylindrical bottle and shake it.", + "Use the right arm to grab the plastic bottle with sealed yellow cap and shake properly.", + "Grab the orange cylindrical bottle and move it to shake.", + "Grab the cylindrical orange bottle with yellow top and shake it steadily.", + "Use the right arm to grab the cylindrical orange bottle with yellow top and shake it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Pick up the bottle with narrow neck and shake it.", + "Shake the bottle with narrow neck thoroughly after grabbing it.", + "Shake the bottle with yellow cap after lifting it.", + "Pick the orange cylindrical bottle up using the right arm and shake it.", + "Catch the bottle with narrow neck and shake it instantly.", + "Pick the yellow-capped plastic bottle, shake it with the right arm.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Lift the orange cylindrical bottle and shake it gently.", + "Grasp the bottle with printed label with the right arm and shake it.", + "With the right arm, pick the bottle with printed label and shake properly.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Secure the orange cylindrical bottle, shake it, and place it down.", + "Hold the bottle with yellow cap with the right arm and shake lightly.", + "Grip the medium-sized orange bottle using the right arm and shake.", + "Lift up the bottle for liquids using the right arm, then shake.", + "Lift the bottle for liquids with the right arm and shake.", + "Grab and shake the medium-sized orange bottle using the right arm.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Shake the bottle with printed label firmly after grabbing.", + "Secure the bottle for liquids and perform a shake.", + "Lift the yellow-capped plastic bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle for liquids.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Shake the medium-sized orange bottle after holding it firmly.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Shake the medium-sized orange bottle using the right arm after grabbing.", + "Hold the bottle with narrow neck and shake it properly.", + "Hold and shake the the orange bottle carefully.", + "Use the right arm to pick and shake the plastic bottle.", + "Hold the bottle with printed label, shake it briefly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Use the right arm to lift and shake the orange bottle.", + "Using the right arm, shake the bottle with narrow neck and then place it back.", + "Pick the bottle with yellow cap up with the right arm and shake.", + "Grab the bottle with yellow cap carefully and shake.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Lift the bottle with narrow neck with the right arm and shake it.", + "Hold the bottle with printed label steady, then shake it.", + "Grab the bottle with printed label and give it a shake.", + "Grab the medium-sized orange bottle with the right arm and shake.", + "Pick the medium-sized orange bottle and perform shaking motion.", + "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Grab the smooth plastic bottle and move it to shake.", + "Grab the bottle with printed label and shake it steadily.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick up the plastic bottle and shake it.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Shake the plastic bottle with sealed yellow cap after lifting it.", + "Pick the plastic bottle up using the right arm and shake it.", + "Catch the bottle with yellow cap and shake it instantly.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Shake the the smooth plastic bottle properly after lifting.", + "Lift the bottle with yellow cap and shake it gently.", + "Grasp the yellow-capped plastic bottle with the right arm and shake it.", + "With the right arm, pick the bottle with narrow neck and shake properly.", + "Take the plastic bottle using the right arm and give it a shake.", + "Pick up the bottle with narrow neck and shake it well.", + "Secure the bottle for liquids, shake it, and place it down.", + "Hold the bottle with printed label with the right arm and shake lightly.", + "Grip the yellow-capped plastic bottle using the right arm and shake.", + "Lift up the bottle with narrow neck using the right arm, then shake.", + "Lift the bottle for liquids with the right arm and shake.", + "Grab and shake the bottle with yellow cap using the right arm." + ], + "unseen": [ + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode114.json b/shake_bottle/ur5_randomized_500/instructions/episode114.json new file mode 100644 index 0000000000000000000000000000000000000000..83e666db5d2500bbcba30327167a342924158ce8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode114.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the handheld medium-sized liquid bottle and shake it gently.", + "Shake the rounded orange bottle with yellow top after grabbing it.", + "Using the left arm, shake the cylindrical orange bottle with smooth surface and then place it back.", + "Pick the small bottle with bright yellow lid and perform shaking motion.", + "Shake the orange bottle using the left arm after grabbing.", + "Hold the handheld medium-sized liquid bottle and shake it properly.", + "Shake the yellow-capped bottle for beverages after grabbing it.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Lift the rounded orange bottle with yellow top and shake it thoroughly.", + "Grab the liquid container with orange body and move it to shake.", + "With the left arm, pick the smooth orange cylindrical bottle and shake properly.", + "Lift the bottle with yellow cap with the left arm and shake it.", + "Lift the cylindrical orange bottle with smooth surface with the left arm and give it a shake.", + "Pick the orange bottle up using the left arm and shake it.", + "Hold the smooth orange cylindrical bottle, shake it briefly.", + "Shake the rounded bottom orange plastic bottle after grabbing it.", + "Catch the handheld medium-sized liquid bottle and shake it instantly.", + "Grasp the small bottle with bright yellow lid with the left arm and shake it.", + "Hold the small bottle with bright yellow lid steady, then shake it.", + "Grip the small bottle with bright yellow lid using the left arm and shake.", + "Use the left arm to lift and shake the cylindrical orange bottle with smooth surface.", + "Grab and shake the rounded orange bottle with yellow top using the left arm.", + "Shake the the rounded bottom orange plastic bottle properly after lifting.", + "Shake the cylindrical orange bottle with smooth surface after holding it firmly.", + "Lift the yellow-capped orange plastic bottle with the left arm and shake.", + "Pick the liquid container with orange body, shake it with the left arm.", + "Grab the yellow-capped bottle for beverages carefully and shake.", + "Utilize the left arm to hold the cylindrical orange bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle for beverages and shake it steadily.", + "Hold the bottle with yellow cap with the left arm and shake lightly.", + "Grab the orange bottle and give it a shake.", + "Use the left arm to grab the orange bottle and shake properly.", + "Secure the rounded orange bottle with yellow top, shake it, and place it down.", + "Use the left arm to lift and shake the smooth orange cylindrical bottle.", + "Shake the rounded bottom orange plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the small bottle with bright yellow lid.", + "Use the left arm to hold the yellow-capped bottle for beverages and shake it.", + "Grab the rounded bottom orange plastic bottle with the left arm and shake.", + "Pick the liquid container with orange body up with the left arm and shake.", + "Grab the bottle with yellow cap using the left arm, then shake.", + "Lift up the small bottle with bright yellow lid using the left arm, then shake.", + "Take the yellow-capped orange plastic bottle using the left arm and give it a shake.", + "Shake the yellow-capped orange plastic bottle firmly after grabbing.", + "Hold and shake the the yellow-capped bottle for beverages carefully.", + "Shake the yellow-capped orange plastic bottle after lifting it.", + "Pick up the liquid container with orange body and shake it.", + "Use the left arm to grab the cylindrical orange bottle with smooth surface and shake it.", + "Use the left arm to pick and shake the yellow-capped orange plastic bottle.", + "Secure the rounded orange bottle with yellow top and perform a shake.", + "Pick up the yellow-capped orange plastic bottle and shake it well.", + "Lift the smooth orange cylindrical bottle and shake it gently.", + "Shake the handheld medium-sized liquid bottle after grabbing it.", + "Using the left arm, shake the smooth orange cylindrical bottle and then place it back.", + "Pick the handheld medium-sized liquid bottle and perform shaking motion.", + "Shake the orange bottle using the left arm after grabbing.", + "Hold the liquid container with orange body and shake it properly.", + "Shake the handheld medium-sized liquid bottle after grabbing it.", + "Grab the smooth orange cylindrical bottle firmly, shake it, and put it down.", + "Lift the yellow-capped orange plastic bottle and shake it thoroughly.", + "Grab the orange bottle and move it to shake.", + "With the left arm, pick the yellow-capped orange plastic bottle and shake properly.", + "Lift the liquid container with orange body with the left arm and shake it.", + "Lift the yellow-capped bottle for beverages with the left arm and give it a shake.", + "Pick the handheld medium-sized liquid bottle up using the left arm and shake it.", + "Hold the orange bottle with bold labeling, shake it briefly.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Catch the rounded orange bottle with yellow top and shake it instantly.", + "Grasp the handheld medium-sized liquid bottle with the left arm and shake it.", + "Hold the handheld medium-sized liquid bottle steady, then shake it.", + "Grip the bottle with yellow cap using the left arm and shake.", + "Use the left arm to lift and shake the rounded bottom orange plastic bottle.", + "Grab and shake the orange bottle using the left arm.", + "Shake the the rounded bottom orange plastic bottle properly after lifting.", + "Shake the orange bottle with bold labeling after holding it firmly.", + "Lift the smooth orange cylindrical bottle with the left arm and shake.", + "Pick the orange bottle with bold labeling, shake it with the left arm.", + "Grab the handheld medium-sized liquid bottle carefully and shake.", + "Utilize the left arm to hold the handheld medium-sized liquid bottle and shake it.", + "Grab the rounded orange bottle with yellow top and shake it steadily.", + "Hold the bottle with yellow cap with the left arm and shake lightly.", + "Grab the smooth orange cylindrical bottle and give it a shake.", + "Use the left arm to grab the liquid container with orange body and shake properly.", + "Secure the yellow-capped bottle for beverages, shake it, and place it down.", + "Use the left arm to lift and shake the liquid container with orange body.", + "Shake the rounded orange bottle with yellow top thoroughly after grabbing it.", + "Use the left arm to lift and shake the yellow-capped orange plastic bottle.", + "Use the left arm to hold the yellow-capped orange plastic bottle and shake it.", + "Grab the rounded orange bottle with yellow top with the left arm and shake.", + "Pick the small bottle with bright yellow lid up with the left arm and shake.", + "Grab the orange bottle with bold labeling using the left arm, then shake.", + "Lift up the rounded bottom orange plastic bottle using the left arm, then shake.", + "Take the orange bottle with bold labeling using the left arm and give it a shake.", + "Shake the yellow-capped bottle for beverages firmly after grabbing.", + "Hold and shake the the liquid container with orange body carefully.", + "Shake the small bottle with bright yellow lid after lifting it.", + "Pick up the rounded bottom orange plastic bottle and shake it.", + "Use the left arm to grab the yellow-capped bottle for beverages and shake it.", + "Use the left arm to pick and shake the handheld medium-sized liquid bottle.", + "Secure the orange bottle and perform a shake.", + "Pick up the handheld medium-sized liquid bottle and shake it well." + ], + "unseen": [ + "Grab the medium plastic bottle and give it a shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Pick up the medium plastic bottle and shake it.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the medium plastic bottle and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium bottle for liquids and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the medium plastic bottle and shake it.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Pick up the medium bottle for liquids and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium bottle for liquids and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium plastic bottle and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Pick up the medium plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode115.json b/shake_bottle/ur5_randomized_500/instructions/episode115.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7358d2c4e3d725d3f5bf64b8e775142d666cf4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode115.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle with red cap and shake properly.", + "Take the plastic bottle with bright red color using the right arm and give it a shake.", + "Catch the plastic bottle with bright red color and shake it instantly.", + "Hold the handheld plastic bottle steady, then shake it.", + "Lift the smooth red cylindrical bottle with the right arm and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the the plastic bottle with bright red color properly after lifting.", + "Grab the red bottle with screw cap carefully and shake.", + "Shake the handheld plastic bottle after grabbing it.", + "Grip the handheld plastic bottle using the right arm and shake.", + "Pick the yellow text bottle, shake it with the right arm.", + "Lift the red bottle with white bottom text and shake it thoroughly.", + "Pick up the red bottle with white bottom text and shake it.", + "Hold the red bottle with white bottom text with the right arm and shake lightly.", + "Grab and shake the smooth red cylindrical bottle using the right arm.", + "Grasp the smooth red cylindrical bottle with the right arm and shake it.", + "Grab the plastic bottle with bright red color and move it to shake.", + "Grab the medium-size plastic bottle firmly, shake it, and put it down.", + "Grab the yellow text bottle using the right arm, then shake.", + "Pick the bottle with red cap up with the right arm and shake.", + "Grab the bottle with red cap and shake it steadily.", + "Grab the red bottle with curved grooves and give it a shake.", + "Secure the red bottle with curved grooves and perform a shake.", + "Hold the handheld plastic bottle and shake it properly.", + "With the right arm, pick the red bottle with curved grooves and shake properly.", + "Hold and shake the the red bottle with narrow neck carefully.", + "Pick the red bottle with screw cap up using the right arm and shake it.", + "Shake the red bottle with white bottom text after grabbing it.", + "Use the right arm to hold the red bottle and shake it.", + "Pick up the red bottle and shake it well.", + "Shake the red bottle with white bottom text using the right arm after grabbing.", + "Lift the smooth red cylindrical bottle with the right arm and shake.", + "Shake the bottle with red cap firmly after grabbing.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to lift and shake the red bottle.", + "Grab the handheld plastic bottle with the right arm and shake.", + "Shake the yellow text bottle after lifting it.", + "Hold the medium-size plastic bottle, shake it briefly.", + "Lift the bottle with red cap and shake it gently.", + "Use the right arm to grab the red bottle and shake it.", + "Lift the red bottle with screw cap with the right arm and give it a shake.", + "Lift up the medium-size plastic bottle using the right arm, then shake.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to lift and shake the handheld plastic bottle.", + "Using the right arm, shake the red bottle with white bottom text and then place it back.", + "Utilize the right arm to hold the medium-size plastic bottle and shake it.", + "Use the right arm to pick and shake the yellow text bottle.", + "Shake the smooth red cylindrical bottle after grabbing it.", + "Use the right arm to lift and shake the yellow text bottle.", + "Use the right arm to grab the smooth red cylindrical bottle and shake properly.", + "Take the red bottle with narrow neck using the right arm and give it a shake.", + "Catch the plastic bottle with bright red color and shake it instantly.", + "Hold the plastic bottle with bright red color steady, then shake it.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the red bottle with narrow neck thoroughly after grabbing it.", + "Shake the the medium-size plastic bottle properly after lifting.", + "Grab the plastic bottle with bright red color carefully and shake.", + "Shake the yellow text bottle after grabbing it.", + "Grip the medium-size plastic bottle using the right arm and shake.", + "Pick the red bottle with screw cap, shake it with the right arm.", + "Lift the handheld plastic bottle and shake it thoroughly.", + "Pick up the red bottle with screw cap and shake it.", + "Hold the bottle with red cap with the right arm and shake lightly.", + "Grab and shake the red bottle with curved grooves using the right arm.", + "Grasp the red bottle with the right arm and shake it.", + "Grab the red bottle and move it to shake.", + "Grab the bottle with red cap firmly, shake it, and put it down.", + "Grab the smooth red cylindrical bottle using the right arm, then shake.", + "Pick the yellow text bottle up with the right arm and shake.", + "Grab the plastic bottle with bright red color and shake it steadily.", + "Grab the red bottle with narrow neck and give it a shake.", + "Secure the medium-size plastic bottle and perform a shake.", + "Hold the red bottle and shake it properly.", + "With the right arm, pick the red bottle with white bottom text and shake properly.", + "Hold and shake the the plastic bottle with bright red color carefully.", + "Pick the medium-size plastic bottle up using the right arm and shake it.", + "Shake the red bottle with curved grooves after grabbing it.", + "Use the right arm to hold the red bottle with curved grooves and shake it.", + "Pick up the medium-size plastic bottle and shake it well.", + "Shake the smooth red cylindrical bottle using the right arm after grabbing.", + "Lift the plastic bottle with bright red color with the right arm and shake.", + "Shake the handheld plastic bottle firmly after grabbing.", + "Secure the smooth red cylindrical bottle, shake it, and place it down.", + "Use the right arm to lift and shake the medium-size plastic bottle.", + "Grab the red bottle with curved grooves with the right arm and shake.", + "Shake the red bottle with white bottom text after lifting it.", + "Hold the red bottle with curved grooves, shake it briefly.", + "Lift the smooth red cylindrical bottle and shake it gently.", + "Use the right arm to grab the smooth red cylindrical bottle and shake it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Lift up the red bottle with narrow neck using the right arm, then shake.", + "Pick the medium-size plastic bottle and perform shaking motion.", + "Shake the yellow text bottle after holding it firmly.", + "Use the right arm to lift and shake the red bottle with screw cap.", + "Using the right arm, shake the red bottle with curved grooves and then place it back.", + "Utilize the right arm to hold the red bottle with screw cap and shake it.", + "Use the right arm to pick and shake the bottle with red cap.", + "Shake the handheld plastic bottle after grabbing it.", + "Use the right arm to lift and shake the yellow text bottle." + ], + "unseen": [ + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Pick and shake the the shiny red bottle with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick and shake the the shiny red bottle with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick and shake the the shiny red bottle with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Pick and shake the the shiny red bottle with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode116.json b/shake_bottle/ur5_randomized_500/instructions/episode116.json new file mode 100644 index 0000000000000000000000000000000000000000..98f9c4961926c156242cb5c17cf833bdc9657230 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode116.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic bottle, shake it briefly.", + "Shake the rectangular-shaped bottle with round cap using the right arm after grabbing.", + "Use the right arm to grab the rectangular-shaped bottle with round cap and shake it.", + "Grab the smooth brown bottle with green label and give it a shake.", + "Utilize the right arm to hold the bottle with flat sides and logo and shake it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Hold the bottle with green cap with the right arm and shake lightly.", + "Shake the brown bottle firmly after grabbing.", + "Pick up the rectangular brown body with white top and shake it well.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Pick the bottle with green cap and perform shaking motion.", + "Secure the medium bottle with glossy surface, shake it, and place it down.", + "Grab the rectangular brown body with white top and shake it steadily.", + "Grab and shake the smooth brown bottle with green label using the right arm.", + "Hold and shake the the smooth brown bottle with green label carefully.", + "With the right arm, pick the medium-sized brown plastic bottle and shake properly.", + "Grab the bottle with flat sides and logo using the right arm, then shake.", + "Use the right arm to grab the brown bottle with rounded rectangular shape and shake properly.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "Shake the bottle with flat sides and logo after holding it firmly.", + "Lift the rectangular-shaped bottle with round cap with the right arm and shake.", + "Grab the brown bottle carefully and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick up the dark brown bottle with a squared body and shake it.", + "Using the right arm, shake the medium-sized brown plastic bottle and then place it back.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Catch the brown bottle and shake it instantly.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the bottle with flat sides and logo, shake it with the right arm.", + "Grip the bottle with flat sides and logo using the right arm and shake.", + "Pick the bottle with flat sides and logo up with the right arm and shake.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Shake the rectangular brown body with white top after lifting it.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Use the right arm to hold the medium bottle with glossy surface and shake it.", + "Grab the medium bottle with glossy surface with the right arm and shake.", + "Secure the plastic bottle and perform a shake.", + "Pick the brown bottle with rounded rectangular shape up using the right arm and shake it.", + "Shake the bottle with green cap after grabbing it.", + "Hold the brown bottle steady, then shake it.", + "Lift the smooth brown bottle with green label with the right arm and give it a shake.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Shake the smooth plastic bottle with white cap thoroughly after grabbing it.", + "Lift up the dark brown bottle with a squared body using the right arm, then shake.", + "Lift the medium-sized brown plastic bottle and shake it gently.", + "Take the dark brown bottle with a squared body using the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Use the right arm to pick and shake the rectangular brown body with white top.", + "Use the right arm to lift and shake the dark brown bottle with a squared body.", + "Hold the bottle with green cap, shake it briefly.", + "Shake the rectangular brown body with white top using the right arm after grabbing.", + "Use the right arm to grab the plastic bottle and shake it.", + "Grab the dark brown bottle with a squared body and give it a shake.", + "Utilize the right arm to hold the bottle with flat sides and logo and shake it.", + "Grasp the smooth brown bottle with green label with the right arm and shake it.", + "Hold the brown bottle with rounded rectangular shape with the right arm and shake lightly.", + "Shake the rectangular-shaped bottle with round cap firmly after grabbing.", + "Pick up the smooth brown bottle with green label and shake it well.", + "Shake the the rectangular brown body with white top properly after lifting.", + "Pick the bottle with flat sides and logo and perform shaking motion.", + "Secure the smooth brown bottle with green label, shake it, and place it down.", + "Grab the brown bottle with rounded rectangular shape and shake it steadily.", + "Grab and shake the plastic bottle using the right arm.", + "Hold and shake the the brown bottle with rounded rectangular shape carefully.", + "With the right arm, pick the brown bottle and shake properly.", + "Grab the plastic bottle using the right arm, then shake.", + "Use the right arm to grab the rectangular brown body with white top and shake properly.", + "Hold the brown bottle and shake it properly.", + "Shake the dark brown bottle with a squared body after holding it firmly.", + "Lift the smooth plastic bottle with white cap with the right arm and shake.", + "Grab the bottle with green cap carefully and shake.", + "Use the right arm to lift and shake the smooth brown bottle with green label.", + "Pick up the rectangular brown body with white top and shake it.", + "Using the right arm, shake the brown bottle and then place it back.", + "Shake the brown bottle after grabbing it.", + "Catch the medium-sized brown plastic bottle and shake it instantly.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Pick the medium bottle with glossy surface, shake it with the right arm.", + "Grip the smooth brown bottle with green label using the right arm and shake.", + "Pick the medium-sized brown plastic bottle up with the right arm and shake.", + "Lift the brown bottle and shake it thoroughly.", + "Shake the brown bottle after lifting it.", + "Grab the brown bottle and move it to shake.", + "Grab the smooth plastic bottle with white cap firmly, shake it, and put it down.", + "Use the right arm to hold the medium-sized brown plastic bottle and shake it.", + "Grab the bottle with green cap with the right arm and shake.", + "Secure the plastic bottle and perform a shake.", + "Pick the smooth brown bottle with green label up using the right arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Hold the dark brown bottle with a squared body steady, then shake it.", + "Lift the brown bottle with rounded rectangular shape with the right arm and give it a shake.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Lift up the rectangular-shaped bottle with round cap using the right arm, then shake.", + "Lift the brown bottle and shake it gently.", + "Take the brown bottle using the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Use the right arm to pick and shake the bottle with green cap.", + "Use the right arm to lift and shake the medium-sized brown plastic bottle." + ], + "unseen": [ + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode117.json b/shake_bottle/ur5_randomized_500/instructions/episode117.json new file mode 100644 index 0000000000000000000000000000000000000000..251dbf7640beae761a3847e117d3ebee23fd82e1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode117.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow bottle with blue label with the left arm and shake it.", + "Pick the bottle for liquid, shake it with the left arm.", + "Grab the plastic bottle with curved sides using the left arm, then shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Use the left arm to pick and shake the bottle with screw cap.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Grab the yellow bottle for liquid storage with the left arm and shake.", + "Lift the yellow bottle with the left arm and give it a shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Grab the yellow bottle carefully and shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Catch the yellow bottle with blue label and shake it instantly.", + "Grab and shake the plastic bottle with curved sides using the left arm.", + "Pick up the bottle for liquid and shake it well.", + "Grab the smooth plastic bottle and move it to shake.", + "Lift the plastic bottle and shake it gently.", + "Shake the handheld curvy bottle after lifting it.", + "Hold the yellow bottle with blue label steady, then shake it.", + "Shake the bottle with screw cap using the left arm after grabbing.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Pick the yellow bottle with dark label and perform shaking motion.", + "Hold the handheld curvy bottle, shake it briefly.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Shake the yellow bottle with blue label after grabbing it.", + "Pick the yellow bottle with blue label up with the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle with dark label.", + "Use the left arm to hold the yellow bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle with dark label and shake it.", + "Grip the smooth plastic bottle using the left arm and shake.", + "Take the plastic bottle with curved sides using the left arm and give it a shake.", + "Grab the plastic bottle and give it a shake.", + "Hold and shake the the yellow bottle carefully.", + "Using the left arm, shake the yellow bottle for liquid storage and then place it back.", + "Lift the bottle with screw cap and shake it thoroughly.", + "Use the left arm to grab the medium plastic bottle with cap and shake properly.", + "Secure the bottle for liquid and perform a shake.", + "Shake the yellow bottle for liquid storage after holding it firmly.", + "Hold the yellow bottle for liquid storage and shake it properly.", + "Lift the yellow bottle for liquid storage with the left arm and shake.", + "Pick the yellow bottle for liquid storage up using the left arm and shake it.", + "Grab the handheld curvy bottle and shake it steadily.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the yellow bottle firmly after grabbing.", + "Grasp the bottle for liquid with the left arm and shake it.", + "Lift up the yellow bottle for liquid storage using the left arm, then shake.", + "Lift the bottle with screw cap with the left arm and shake it.", + "Pick the yellow bottle for liquid storage, shake it with the left arm.", + "Grab the yellow bottle for liquid storage using the left arm, then shake.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Use the left arm to pick and shake the yellow bottle.", + "With the left arm, pick the yellow bottle with blue label and shake properly.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Grab the handheld curvy bottle with the left arm and shake.", + "Lift the medium plastic bottle with cap with the left arm and give it a shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Grab the bottle for liquid carefully and shake.", + "Shake the the yellow bottle for liquid storage properly after lifting.", + "Catch the handheld curvy bottle and shake it instantly.", + "Grab and shake the handheld curvy bottle using the left arm.", + "Pick up the medium plastic bottle with cap and shake it well.", + "Grab the yellow bottle for liquid storage and move it to shake.", + "Lift the plastic bottle with curved sides and shake it gently.", + "Shake the handheld curvy bottle after lifting it.", + "Hold the bottle with screw cap steady, then shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the yellow bottle with dark label after grabbing it.", + "Shake the yellow bottle after grabbing it.", + "Hold the medium-sized bottle with the left arm and shake lightly.", + "Pick the yellow bottle with blue label and perform shaking motion.", + "Hold the bottle for liquid, shake it briefly.", + "Use the left arm to lift and shake the plastic bottle with curved sides.", + "Shake the medium-sized bottle after grabbing it.", + "Pick the yellow bottle for liquid storage up with the left arm and shake.", + "Use the left arm to lift and shake the bottle for liquid.", + "Use the left arm to hold the yellow bottle and shake it.", + "Pick up the yellow bottle and shake it.", + "Use the left arm to grab the handheld curvy bottle and shake it.", + "Grip the plastic bottle with curved sides using the left arm and shake.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Grab the bottle for liquid and give it a shake.", + "Hold and shake the the yellow bottle carefully.", + "Using the left arm, shake the yellow bottle with dark label and then place it back.", + "Lift the yellow bottle for liquid storage and shake it thoroughly.", + "Use the left arm to grab the plastic bottle with curved sides and shake properly.", + "Secure the yellow bottle for liquid storage and perform a shake.", + "Shake the yellow bottle with dark label after holding it firmly.", + "Hold the yellow bottle and shake it properly.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the plastic bottle with curved sides and shake it steadily.", + "Secure the plastic bottle with curved sides, shake it, and place it down.", + "Grab the handheld curvy bottle firmly, shake it, and put it down.", + "Shake the plastic bottle firmly after grabbing.", + "Grasp the yellow bottle with blue label with the left arm and shake it.", + "Lift up the plastic bottle with curved sides using the left arm, then shake." + ], + "unseen": [ + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick up the smooth bottle with blue text and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode118.json b/shake_bottle/ur5_randomized_500/instructions/episode118.json new file mode 100644 index 0000000000000000000000000000000000000000..ec9535276d0f4f4cab366ab90cb3ed4080fa516d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode118.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the beverage bottle with black body after grabbing it.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Grip the black cylindrical bottle with ridges using the left arm and shake.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Hold the beverage bottle with black body steady, then shake it.", + "Shake the beverage bottle with black body after lifting it.", + "Lift the yellow capped drink bottle with the left arm and give it a shake.", + "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "Grab the bottle with blue and yellow print firmly, shake it, and put it down.", + "Shake the the plastic bottle with colorful label properly after lifting.", + "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.", + "Hold the black plastic bottle with Pepsi logo and shake it properly.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Pick up the bottle with blue and yellow print and shake it.", + "Shake the medium black bottle with printed label after holding it firmly.", + "Secure the plastic bottle with colorful label, shake it, and place it down.", + "Pick up the smooth black bottle with ridges and shake it well.", + "Grab the drink bottle with rounded yellow lid and move it to shake.", + "Hold the black bottle, shake it briefly.", + "Hold the yellow capped drink bottle with the left arm and shake lightly.", + "Using the left arm, shake the plastic bottle with colorful label and then place it back.", + "Use the left arm to grab the yellow-capped cylindrical bottle and shake properly.", + "Pick the yellow-capped cylindrical bottle up with the left arm and shake.", + "Lift the yellow capped drink bottle with the left arm and shake it.", + "Grasp the plastic bottle with colorful label with the left arm and shake it.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Lift up the black cylindrical bottle with ridges using the left arm, then shake.", + "Secure the medium black bottle with printed label and perform a shake.", + "Take the black cylindrical bottle with ridges using the left arm and give it a shake.", + "Grab and shake the yellow capped drink bottle using the left arm.", + "Use the left arm to pick and shake the black bottle.", + "Utilize the left arm to hold the beverage bottle with black body and shake it.", + "Lift the bottle with blue and yellow print with the left arm and shake.", + "Pick the yellow-capped cylindrical bottle up using the left arm and shake it.", + "Pick the yellow capped drink bottle, shake it with the left arm.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Grab the medium black bottle with printed label and shake it steadily.", + "With the left arm, pick the medium bottle with yellow cap and shake properly.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Pick the smooth black bottle with ridges and perform shaking motion.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Lift the medium black bottle with printed label and shake it thoroughly.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Shake the yellow capped drink bottle using the left arm after grabbing.", + "Grab the yellow capped drink bottle with the left arm and shake.", + "Grab the yellow-capped cylindrical bottle using the left arm, then shake.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Use the left arm to grab the black cylindrical bottle with ridges and shake it.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Grip the black bottle using the left arm and shake.", + "Catch the beverage bottle with black body and shake it instantly.", + "Hold the black bottle steady, then shake it.", + "Shake the smooth black bottle with ridges after lifting it.", + "Lift the smooth black bottle with ridges with the left arm and give it a shake.", + "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Shake the the smooth black bottle with ridges properly after lifting.", + "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.", + "Hold the medium black bottle with printed label and shake it properly.", + "Use the left arm to lift and shake the black bottle.", + "Pick up the black bottle and shake it.", + "Shake the beverage bottle with black body after holding it firmly.", + "Secure the black cylindrical bottle with ridges, shake it, and place it down.", + "Pick up the yellow-capped cylindrical bottle and shake it well.", + "Grab the black plastic bottle with Pepsi logo and move it to shake.", + "Hold the medium black bottle with printed label, shake it briefly.", + "Hold the beverage bottle with black body with the left arm and shake lightly.", + "Using the left arm, shake the medium bottle with yellow cap and then place it back.", + "Use the left arm to grab the yellow-capped cylindrical bottle and shake properly.", + "Pick the medium black bottle with printed label up with the left arm and shake.", + "Lift the plastic bottle with colorful label with the left arm and shake it.", + "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Lift up the bottle with blue and yellow print using the left arm, then shake.", + "Secure the medium black bottle with printed label and perform a shake.", + "Take the drink bottle with rounded yellow lid using the left arm and give it a shake.", + "Grab and shake the medium black bottle with printed label using the left arm.", + "Use the left arm to pick and shake the bottle with blue and yellow print.", + "Utilize the left arm to hold the medium bottle with yellow cap and shake it.", + "Lift the plastic bottle with colorful label with the left arm and shake.", + "Pick the smooth black bottle with ridges up using the left arm and shake it.", + "Pick the yellow capped drink bottle, shake it with the left arm.", + "Grab the black plastic bottle with Pepsi logo carefully and shake.", + "Grab the yellow-capped cylindrical bottle and shake it steadily.", + "With the left arm, pick the yellow capped drink bottle and shake properly.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Lift the beverage bottle with black body and shake it gently.", + "Lift the black cylindrical bottle with ridges and shake it thoroughly.", + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Hold and shake the the black bottle carefully.", + "Shake the black plastic bottle with Pepsi logo using the left arm after grabbing.", + "Grab the medium bottle with yellow cap with the left arm and shake.", + "Grab the drink bottle with rounded yellow lid using the left arm, then shake.", + "Shake the yellow-capped cylindrical bottle firmly after grabbing.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Use the left arm to grab the yellow capped drink bottle and shake it." + ], + "unseen": [ + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode119.json b/shake_bottle/ur5_randomized_500/instructions/episode119.json new file mode 100644 index 0000000000000000000000000000000000000000..8d138de7de8a2a7234a20a152540853352db6cb6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode119.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the light and medium-sized bottle and perform shaking motion.", + "Lift the medium bottle with colorful label with the left arm and shake it.", + "Grab the light and medium-sized bottle carefully and shake.", + "Take the bottle for holding drinks using the left arm and give it a shake.", + "Grab the grooved orange drink bottle and move it to shake.", + "Pick the light and medium-sized bottle up using the left arm and shake it.", + "Shake the smooth orange bottle firmly after grabbing.", + "Grasp the orange bottle with the left arm and shake it.", + "Pick up the round-bottom bottle with white cap and shake it.", + "Lift the light and medium-sized bottle and shake it gently.", + "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.", + "Use the left arm to pick and shake the orange bottle.", + "Use the left arm to grab the curved orange soda bottle and shake it.", + "Grip the medium bottle with colorful label using the left arm and shake.", + "Use the left arm to grab the light and medium-sized bottle and shake properly.", + "Shake the grooved orange drink bottle using the left arm after grabbing.", + "Using the left arm, shake the ridged orange bottle with grooves and then place it back.", + "Hold the bottle for holding drinks and shake it properly.", + "Lift the medium bottle with colorful label with the left arm and shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Hold the orange bottle steady, then shake it.", + "Shake the ridged orange bottle with grooves thoroughly after grabbing it.", + "Pick the cylindrical orange plastic bottle, shake it with the left arm.", + "Catch the orange drink bottle with label and shake it instantly.", + "Hold the orange bottle with the left arm and shake lightly.", + "Lift up the orange bottle using the left arm, then shake.", + "Lift the bottle for holding drinks with the left arm and give it a shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the grooved orange drink bottle and shake it steadily.", + "Shake the medium bottle with colorful label after lifting it.", + "Grab the plastic bottle using the left arm, then shake.", + "Pick the light and medium-sized bottle up with the left arm and shake.", + "Grab and shake the smooth orange bottle using the left arm.", + "Grab the grooved orange drink bottle with the left arm and shake.", + "Secure the orange drink bottle with label and perform a shake.", + "Shake the smooth orange bottle after holding it firmly.", + "With the left arm, pick the smooth orange bottle and shake properly.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Hold the plastic bottle, shake it briefly.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Shake the orange drink bottle with label after grabbing it.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Shake the curved orange soda bottle after grabbing it.", + "Pick up the smooth orange bottle and shake it well.", + "Shake the the light and medium-sized bottle properly after lifting.", + "Hold and shake the the smooth orange bottle carefully.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Grab the curved orange soda bottle and give it a shake.", + "Shake the smooth orange bottle after grabbing it.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Pick the grooved orange drink bottle and perform shaking motion.", + "Lift the curved orange soda bottle with the left arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Take the bottle for holding drinks using the left arm and give it a shake.", + "Grab the bottle for holding drinks and move it to shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the orange bottle firmly after grabbing.", + "Grasp the grooved orange drink bottle with the left arm and shake it.", + "Pick up the orange drink bottle with label and shake it.", + "Lift the medium bottle with colorful label and shake it gently.", + "Grab the light and medium-sized bottle firmly, shake it, and put it down.", + "Use the left arm to pick and shake the smooth orange bottle.", + "Use the left arm to grab the curved orange soda bottle and shake it.", + "Grip the orange drink bottle with label using the left arm and shake.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Shake the bottle for holding drinks using the left arm after grabbing.", + "Using the left arm, shake the smooth orange bottle and then place it back.", + "Hold the grooved orange drink bottle and shake it properly.", + "Lift the orange drink bottle with label with the left arm and shake.", + "Use the left arm to hold the light and medium-sized bottle and shake it.", + "Hold the curved orange soda bottle steady, then shake it.", + "Shake the light and medium-sized bottle thoroughly after grabbing it.", + "Pick the orange drink bottle with label, shake it with the left arm.", + "Catch the plastic bottle and shake it instantly.", + "Hold the ridged orange bottle with grooves with the left arm and shake lightly.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Lift the cylindrical orange plastic bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the ridged orange bottle with grooves and shake it.", + "Grab the curved orange soda bottle and shake it steadily.", + "Shake the medium bottle with colorful label after lifting it.", + "Grab the curved orange soda bottle using the left arm, then shake.", + "Pick the light and medium-sized bottle up with the left arm and shake.", + "Grab and shake the orange drink bottle with label using the left arm.", + "Grab the orange bottle with the left arm and shake.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Shake the round-bottom bottle with white cap after holding it firmly.", + "With the left arm, pick the light and medium-sized bottle and shake properly.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the curved orange soda bottle after grabbing it.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Shake the bottle for holding drinks after grabbing it.", + "Pick up the curved orange soda bottle and shake it well.", + "Shake the the orange bottle properly after lifting.", + "Hold and shake the the curved orange soda bottle carefully.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Grab the bottle for holding drinks and give it a shake.", + "Shake the grooved orange drink bottle after grabbing it.", + "Lift the orange bottle and shake it thoroughly." + ], + "unseen": [ + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode12.json b/shake_bottle/ur5_randomized_500/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..5a061961cc8b86008f75995816432dc282f0ff4f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the medium bottle with glossy surface using the left arm, then shake.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Grab the brown bottle firmly, shake it, and put it down.", + "Grip the brown bottle using the left arm and shake.", + "Lift the smooth plastic bottle with white cap with the left arm and shake it.", + "Secure the smooth plastic bottle with white cap and perform a shake.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Grab the smooth brown bottle with green label with the left arm and shake.", + "Shake the smooth brown bottle with green label firmly after grabbing.", + "Grab the brown bottle with rounded rectangular shape carefully and shake.", + "Grab the plastic bottle and give it a shake.", + "Hold and shake the the brown bottle with rounded rectangular shape carefully.", + "Secure the smooth plastic bottle with white cap, shake it, and place it down.", + "Grasp the smooth plastic bottle with white cap with the left arm and shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Using the left arm, shake the smooth plastic bottle with white cap and then place it back.", + "Pick up the bottle with green cap and shake it.", + "Use the left arm to grab the rectangular brown body with white top and shake it.", + "Lift the brown bottle with rounded rectangular shape and shake it thoroughly.", + "Pick up the medium-sized brown plastic bottle and shake it well.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Use the left arm to pick and shake the smooth brown bottle with green label.", + "Hold the dark brown bottle with a squared body, shake it briefly.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Take the smooth brown bottle with green label using the left arm and give it a shake.", + "Lift the smooth brown bottle with green label with the left arm and shake.", + "Hold the brown bottle with rounded rectangular shape with the left arm and shake lightly.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Pick the medium bottle with glossy surface up with the left arm and shake.", + "Shake the smooth brown bottle with green label using the left arm after grabbing.", + "Grab the medium bottle with glossy surface and shake it steadily.", + "Use the left arm to grab the brown bottle and shake properly.", + "Grab the bottle with green cap using the left arm, then shake.", + "Hold the rectangular brown body with white top steady, then shake it.", + "Shake the dark brown bottle with a squared body after holding it firmly.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Lift the smooth plastic bottle with white cap and shake it gently.", + "Shake the medium bottle with glossy surface after lifting it.", + "Pick the medium bottle with glossy surface up using the left arm and shake it.", + "Catch the brown bottle with rounded rectangular shape and shake it instantly.", + "Lift the rectangular brown body with white top with the left arm and give it a shake.", + "Pick the medium bottle with glossy surface and perform shaking motion.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Utilize the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Grab the medium-sized brown plastic bottle and move it to shake.", + "Hold the plastic bottle and shake it properly.", + "Pick the medium-sized brown plastic bottle, shake it with the left arm.", + "Shake the smooth plastic bottle with white cap thoroughly after grabbing it.", + "Lift up the medium-sized brown plastic bottle using the left arm, then shake.", + "Shake the the bottle with green cap properly after lifting.", + "Use the left arm to hold the bottle with green cap and shake it.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down.", + "Grip the dark brown bottle with a squared body using the left arm and shake.", + "Lift the bottle with flat sides and logo with the left arm and shake it.", + "Secure the medium bottle with glossy surface and perform a shake.", + "Grab and shake the smooth plastic bottle with white cap using the left arm.", + "Grab the medium-sized brown plastic bottle with the left arm and shake.", + "Shake the rectangular brown body with white top firmly after grabbing.", + "Grab the medium bottle with glossy surface carefully and shake.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Hold and shake the the smooth plastic bottle with white cap carefully.", + "Secure the smooth brown bottle with green label, shake it, and place it down.", + "Grasp the dark brown bottle with a squared body with the left arm and shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick up the rectangular brown body with white top and shake it.", + "Use the left arm to grab the smooth brown bottle with green label and shake it.", + "Lift the smooth plastic bottle with white cap and shake it thoroughly.", + "Pick up the bottle with green cap and shake it well.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to pick and shake the rectangular-shaped bottle with round cap.", + "Hold the bottle with flat sides and logo, shake it briefly.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Use the left arm to lift and shake the medium bottle with glossy surface.", + "Take the rectangular-shaped bottle with round cap using the left arm and give it a shake.", + "Lift the dark brown bottle with a squared body with the left arm and shake.", + "Hold the smooth brown bottle with green label with the left arm and shake lightly.", + "Shake the plastic bottle after grabbing it.", + "Pick the plastic bottle up with the left arm and shake.", + "Shake the smooth plastic bottle with white cap using the left arm after grabbing.", + "Grab the rectangular brown body with white top and shake it steadily.", + "Use the left arm to grab the bottle with flat sides and logo and shake properly.", + "Grab the dark brown bottle with a squared body using the left arm, then shake.", + "Hold the smooth brown bottle with green label steady, then shake it.", + "Shake the bottle with green cap after holding it firmly.", + "Shake the bottle with green cap after grabbing it.", + "Lift the medium-sized brown plastic bottle and shake it gently.", + "Shake the bottle with flat sides and logo after lifting it.", + "Pick the brown bottle with rounded rectangular shape up using the left arm and shake it.", + "Catch the bottle with green cap and shake it instantly.", + "Lift the rectangular-shaped bottle with round cap with the left arm and give it a shake.", + "Pick the bottle with green cap and perform shaking motion.", + "Shake the bottle with green cap after grabbing it.", + "Utilize the left arm to hold the dark brown bottle with a squared body and shake it.", + "Grab the medium bottle with glossy surface and move it to shake.", + "Hold the brown bottle and shake it properly.", + "Pick the brown bottle with rounded rectangular shape, shake it with the left arm.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it." + ], + "unseen": [ + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode120.json b/shake_bottle/ur5_randomized_500/instructions/episode120.json new file mode 100644 index 0000000000000000000000000000000000000000..2444990541f28bb57ada539edddbc99c313d80f7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode120.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle with bright red color and perform shaking motion.", + "Hold the red bottle with screw cap, shake it briefly.", + "Hold the plastic bottle with bright red color and shake it properly.", + "Use the left arm to grab the yellow text bottle and shake properly.", + "Use the left arm to grab the red bottle with white bottom text and shake it.", + "Grab and shake the smooth red cylindrical bottle using the left arm.", + "Grab the red bottle with screw cap firmly, shake it, and put it down.", + "Use the left arm to lift and shake the red bottle with white bottom text.", + "Pick the bottle with red cap, shake it with the left arm.", + "Use the left arm to pick and shake the red bottle with screw cap.", + "With the left arm, pick the yellow text bottle and shake properly.", + "Lift the red bottle with the left arm and shake.", + "Grab the red bottle carefully and shake.", + "Pick the red bottle with narrow neck up using the left arm and shake it.", + "Shake the smooth red cylindrical bottle after grabbing it.", + "Catch the smooth red cylindrical bottle and shake it instantly.", + "Secure the red bottle with white bottom text and perform a shake.", + "Lift up the medium-size plastic bottle using the left arm, then shake.", + "Hold and shake the the red bottle with curved grooves carefully.", + "Shake the red bottle with curved grooves after grabbing it.", + "Grab the bottle with red cap and give it a shake.", + "Take the red bottle with screw cap using the left arm and give it a shake.", + "Use the left arm to hold the red bottle with curved grooves and shake it.", + "Shake the the red bottle with white bottom text properly after lifting.", + "Utilize the left arm to hold the red bottle with screw cap and shake it.", + "Lift the plastic bottle and shake it gently.", + "Secure the red bottle with narrow neck, shake it, and place it down.", + "Shake the red bottle with curved grooves after lifting it.", + "Using the left arm, shake the medium-size plastic bottle and then place it back.", + "Hold the medium-size plastic bottle with the left arm and shake lightly.", + "Pick the plastic bottle with bright red color up with the left arm and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the plastic bottle with bright red color after holding it firmly.", + "Grab the red bottle with narrow neck and move it to shake.", + "Use the left arm to lift and shake the red bottle with screw cap.", + "Grab the yellow text bottle and shake it steadily.", + "Lift the bottle with red cap with the left arm and shake it.", + "Grip the yellow text bottle using the left arm and shake.", + "Grab the red bottle using the left arm, then shake.", + "Use the left arm to lift and shake the yellow text bottle.", + "Grab the plastic bottle with bright red color with the left arm and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Pick up the red bottle with narrow neck and shake it well.", + "Shake the red bottle with curved grooves using the left arm after grabbing.", + "Shake the red bottle after grabbing it.", + "Grasp the red bottle with the left arm and shake it.", + "Hold the handheld plastic bottle steady, then shake it.", + "Pick up the red bottle and shake it.", + "Lift the handheld plastic bottle with the left arm and give it a shake.", + "Pick the smooth red cylindrical bottle and perform shaking motion.", + "Hold the handheld plastic bottle, shake it briefly.", + "Hold the smooth red cylindrical bottle and shake it properly.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Use the left arm to grab the red bottle with screw cap and shake it.", + "Grab and shake the smooth red cylindrical bottle using the left arm.", + "Grab the plastic bottle with bright red color firmly, shake it, and put it down.", + "Use the left arm to lift and shake the plastic bottle with bright red color.", + "Pick the red bottle with screw cap, shake it with the left arm.", + "Use the left arm to pick and shake the plastic bottle with bright red color.", + "With the left arm, pick the smooth red cylindrical bottle and shake properly.", + "Lift the yellow text bottle with the left arm and shake.", + "Grab the red bottle with curved grooves carefully and shake.", + "Pick the smooth red cylindrical bottle up using the left arm and shake it.", + "Shake the yellow text bottle after grabbing it.", + "Catch the red bottle with screw cap and shake it instantly.", + "Secure the smooth red cylindrical bottle and perform a shake.", + "Lift up the red bottle with curved grooves using the left arm, then shake.", + "Hold and shake the the plastic bottle with bright red color carefully.", + "Shake the plastic bottle after grabbing it.", + "Grab the red bottle and give it a shake.", + "Take the red bottle with narrow neck using the left arm and give it a shake.", + "Use the left arm to hold the red bottle and shake it.", + "Shake the the plastic bottle with bright red color properly after lifting.", + "Utilize the left arm to hold the red bottle and shake it.", + "Lift the medium-size plastic bottle and shake it gently.", + "Secure the smooth red cylindrical bottle, shake it, and place it down.", + "Shake the handheld plastic bottle after lifting it.", + "Using the left arm, shake the handheld plastic bottle and then place it back.", + "Hold the handheld plastic bottle with the left arm and shake lightly.", + "Pick the red bottle with screw cap up with the left arm and shake.", + "Lift the red bottle with screw cap and shake it thoroughly.", + "Shake the handheld plastic bottle thoroughly after grabbing it.", + "Shake the red bottle with narrow neck after holding it firmly.", + "Grab the medium-size plastic bottle and move it to shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the red bottle with white bottom text and shake it steadily.", + "Lift the plastic bottle with bright red color with the left arm and shake it.", + "Grip the red bottle with curved grooves using the left arm and shake.", + "Grab the handheld plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the plastic bottle with the left arm and shake.", + "Shake the red bottle with white bottom text firmly after grabbing.", + "Pick up the plastic bottle with bright red color and shake it well.", + "Shake the handheld plastic bottle using the left arm after grabbing.", + "Shake the handheld plastic bottle after grabbing it.", + "Grasp the smooth red cylindrical bottle with the left arm and shake it.", + "Hold the medium-size plastic bottle steady, then shake it.", + "Pick up the red bottle and shake it.", + "Lift the red bottle with white bottom text with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the bottle with white and yellow label and shake it.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the left arm to grab the shiny red bottle and shake.", + "Shake the shiny red bottle after picking it with the left arm.", + "Grab the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the left arm to pick the shiny red bottle.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick up the shiny red bottle with the left arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Shake the shiny red bottle after picking it with the left arm.", + "Grab the shiny red bottle and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the left arm to pick the shiny red bottle.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters with the left arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Grab the bottle with white and yellow label and shake it.", + "Pick and shake the the shiny red bottle with the left arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the left arm to pick the shiny red bottle.", + "Pick up the shiny red bottle and shake it.", + "Pick up the shiny red bottle with the left arm and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Grab the shiny red bottle and shake it.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Pick up the shiny red bottle and shake it.", + "Pick up the shiny red bottle with the left arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the shiny red bottle with the left arm and shake.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Shake the shiny red bottle after picking it with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the shiny red bottle with the left arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the left arm to pick the bottle with white and yellow label.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters with the left arm and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Use the left arm to grab the shiny red bottle and shake.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Grab the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Shake the shiny red bottle after picking it with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the shiny red bottle with the left arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the left arm to pick the shiny red bottle.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters with the left arm and shake.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the left arm to grab the shiny red bottle and shake.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Grab the shiny red bottle and shake it.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the left arm to pick the shiny red bottle.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters with the left arm and shake.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the left arm to pick the shiny red bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode121.json b/shake_bottle/ur5_randomized_500/instructions/episode121.json new file mode 100644 index 0000000000000000000000000000000000000000..9a9241191f4ac5a18a5c970eec7b229605255a96 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode121.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with green label, shake it with the left arm.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Lift the yellow plastic bottle with white top with the left arm and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Shake the the bottle with green and white labels properly after lifting.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Pick the smooth bottle with rounded edges up using the left arm and shake it.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Using the left arm, shake the yellow container with rounded edges and then place it back.", + "Use the left arm to lift and shake the bottle with green label.", + "Use the left arm to grab the yellow bottle and shake it.", + "Grab the bottle with green label using the left arm, then shake.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Secure the bottle with green label, shake it, and place it down.", + "Lift the bottle with a smooth plastic body with the left arm and shake.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Lift the yellow bottle and shake it gently.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Use the left arm to grab the medium rectangular yellow bottle and shake properly.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Shake the yellow bottle with a green design after holding it firmly.", + "Grab the yellow bottle with a green design and give it a shake.", + "Shake the yellow bottle using the left arm after grabbing.", + "Grab the bottle with a smooth plastic body and shake it steadily.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Catch the plastic bottle and shake it instantly.", + "Secure the bottle with green and white labels and perform a shake.", + "Hold the yellow bottle with a green design and shake it properly.", + "Grasp the yellow container with rounded edges with the left arm and shake it.", + "Grab the rectangular bottle with cylindrical neck with the left arm and shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Shake the yellow bottle with a green design after grabbing it.", + "Use the left arm to hold the medium rectangular yellow bottle and shake it.", + "Grip the bottle with green and white labels using the left arm and shake.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Use the left arm to lift and shake the medium rectangular yellow bottle.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Shake the plastic bottle after lifting it.", + "Grab and shake the rectangular bottle with cylindrical neck using the left arm.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with green label.", + "With the left arm, pick the yellow plastic bottle with white top and shake properly.", + "Pick the bottle with white cap, shake it with the left arm.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Lift the bottle with a smooth plastic body with the left arm and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift the yellow container with rounded edges with the left arm and give it a shake.", + "Grab the yellow container with rounded edges carefully and shake.", + "Grab the bottle with green and white labels firmly, shake it, and put it down.", + "Shake the the yellow bottle properly after lifting.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Pick the yellow plastic bottle with white top up using the left arm and shake it.", + "Hold and shake the the bottle with white cap carefully.", + "Using the left arm, shake the medium rectangular yellow bottle and then place it back.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Grab the medium rectangular yellow bottle using the left arm, then shake.", + "Hold the yellow bottle steady, then shake it.", + "Pick up the plastic bottle and shake it.", + "Take the yellow bottle with a green design using the left arm and give it a shake.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Lift the plastic bottle with the left arm and shake.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Lift the bottle with white cap and shake it thoroughly.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Pick up the yellow container with rounded edges and shake it well.", + "Use the left arm to grab the bottle with green label and shake properly.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Grab the yellow bottle and give it a shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Hold the bottle with green and white labels with the left arm and shake lightly.", + "Catch the yellow bottle with a green design and shake it instantly.", + "Secure the bottle with green label and perform a shake.", + "Hold the yellow bottle and shake it properly.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grab the bottle with green and white labels with the left arm and shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the bottle with green and white labels after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grip the smooth bottle with rounded edges using the left arm and shake.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Use the left arm to lift and shake the bottle with green label.", + "Lift up the yellow container with rounded edges using the left arm, then shake.", + "Pick the bottle with green label and perform shaking motion.", + "Shake the yellow container with rounded edges after lifting it.", + "Grab and shake the bottle with white cap using the left arm.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "With the left arm, pick the smooth bottle with rounded edges and shake properly." + ], + "unseen": [ + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode122.json b/shake_bottle/ur5_randomized_500/instructions/episode122.json new file mode 100644 index 0000000000000000000000000000000000000000..97d73fe48e809991c80a13eaa6247d64346dfc85 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode122.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle up using the right arm and shake it.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Hold the blue bottle with label steady, then shake it.", + "Shake the white and blue bottle after lifting it.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Use the right arm to pick and shake the blue bottle.", + "Grab and shake the cylindrical bottle using the right arm.", + "Shake the medium bottle for beverages after grabbing it.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Shake the white bottle with blue accents after grabbing it.", + "Grab the bottle for liquids with the right arm and shake.", + "Grab the blue bottle and shake it steadily.", + "Hold the white bottle with blue accents and shake it properly.", + "With the right arm, pick the medium-sized bottle and shake properly.", + "Using the right arm, shake the white and blue bottle and then place it back.", + "Secure the bottle with blue cap and perform a shake.", + "Grab the bottle for liquids carefully and shake.", + "Lift the bottle for liquids and shake it gently.", + "Use the right arm to lift and shake the white and blue bottle.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Shake the blue bottle thoroughly after grabbing it.", + "Lift the plastic bottle with the right arm and shake.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Lift the white bottle with blue accents and shake it thoroughly.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Use the right arm to grab the white bottle with blue accents and shake properly.", + "Lift up the bottle for liquids using the right arm, then shake.", + "Lift the medium bottle for beverages with the right arm and give it a shake.", + "Grab the plastic bottle using the right arm, then shake.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Catch the white bottle with blue accents and shake it instantly.", + "Hold and shake the the white and blue bottle carefully.", + "Use the right arm to lift and shake the white bottle with blue accents.", + "Shake the plastic bottle after holding it firmly.", + "Grab the plastic bottle and give it a shake.", + "Shake the medium bottle for beverages firmly after grabbing.", + "Hold the bottle for liquids with the right arm and shake lightly.", + "Pick the handheld bottle up with the right arm and shake.", + "Shake the handheld bottle after grabbing it.", + "Shake the the medium bottle for beverages properly after lifting.", + "Pick up the bottle for liquids and shake it well.", + "Grasp the medium bottle for beverages with the right arm and shake it.", + "Utilize the right arm to hold the white bottle with blue accents and shake it.", + "Secure the blue bottle, shake it, and place it down.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Hold the medium-sized bottle, shake it briefly.", + "Use the right arm to grab the medium-sized bottle and shake it.", + "Take the bottle with blue cap using the right arm and give it a shake.", + "Grab the handheld bottle and move it to shake.", + "Pick up the white and blue bottle and shake it.", + "Pick the white bottle with blue accents up using the right arm and shake it.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Shake the handheld bottle after lifting it.", + "Lift the white bottle with blue accents with the right arm and shake it.", + "Use the right arm to pick and shake the blue bottle.", + "Grab and shake the white bottle with blue accents using the right arm.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Shake the bottle for liquids after grabbing it.", + "Grab the blue bottle with label with the right arm and shake.", + "Grab the handheld bottle and shake it steadily.", + "Hold the handheld bottle and shake it properly.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Using the right arm, shake the medium-sized bottle and then place it back.", + "Secure the plastic bottle and perform a shake.", + "Grab the handheld bottle carefully and shake.", + "Lift the blue bottle and shake it gently.", + "Use the right arm to lift and shake the white and blue bottle.", + "Pick the blue bottle with label, shake it with the right arm.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Lift the medium-sized bottle with the right arm and shake.", + "Grip the handheld bottle using the right arm and shake.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Use the right arm to grab the medium bottle for beverages and shake properly.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Grab the blue bottle with label using the right arm, then shake.", + "Shake the blue bottle using the right arm after grabbing.", + "Catch the medium-sized bottle and shake it instantly.", + "Hold and shake the the medium bottle for beverages carefully.", + "Use the right arm to lift and shake the medium bottle for beverages.", + "Shake the blue bottle after holding it firmly.", + "Grab the bottle for liquids and give it a shake.", + "Shake the handheld bottle firmly after grabbing.", + "Hold the handheld bottle with the right arm and shake lightly.", + "Pick the cylindrical bottle up with the right arm and shake.", + "Shake the medium bottle for beverages after grabbing it.", + "Shake the the handheld bottle properly after lifting.", + "Pick up the bottle for liquids and shake it well.", + "Grasp the blue bottle with the right arm and shake it.", + "Utilize the right arm to hold the white bottle with blue accents and shake it.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Pick the cylindrical bottle and perform shaking motion.", + "Hold the blue bottle with label, shake it briefly.", + "Use the right arm to grab the blue bottle with label and shake it.", + "Take the white and blue bottle using the right arm and give it a shake.", + "Grab the handheld bottle and move it to shake.", + "Pick up the cylindrical bottle and shake it." + ], + "unseen": [ + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode123.json b/shake_bottle/ur5_randomized_500/instructions/episode123.json new file mode 100644 index 0000000000000000000000000000000000000000..30660e00df288abeec8279fe255e5a12cf6bf8d3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode123.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth bottle with rounded edges using the right arm after grabbing.", + "Use the right arm to grab the bottle with green label and shake it.", + "Grab the yellow plastic bottle with white top and give it a shake.", + "Shake the yellow bottle with a green design after grabbing it.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Take the yellow bottle with a green design using the right arm and give it a shake.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Grab the plastic bottle with the right arm and shake.", + "Use the right arm to grab the yellow plastic bottle with white top and shake properly.", + "Pick up the yellow container with rounded edges and shake it.", + "Pick the yellow plastic bottle with white top, shake it with the right arm.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Grasp the yellow bottle with a green design with the right arm and shake it.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Hold the yellow container with rounded edges and shake it properly.", + "Use the right arm to pick and shake the medium rectangular yellow bottle.", + "Shake the the bottle with green label properly after lifting.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Lift up the bottle with a smooth plastic body using the right arm, then shake.", + "Shake the yellow bottle after lifting it.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Lift the yellow bottle with the right arm and give it a shake.", + "Pick up the bottle with white cap and shake it well.", + "Using the right arm, shake the smooth bottle with rounded edges and then place it back.", + "Lift the bottle with green and white labels with the right arm and shake it.", + "Lift the bottle with green and white labels and shake it thoroughly.", + "Pick the medium rectangular yellow bottle up using the right arm and shake it.", + "Hold the rectangular bottle with cylindrical neck with the right arm and shake lightly.", + "Lift the bottle with white cap and shake it gently.", + "Grip the yellow container with rounded edges using the right arm and shake.", + "Grab and shake the smooth bottle with rounded edges using the right arm.", + "Use the right arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Grab the bottle with green and white labels and move it to shake.", + "Grab the bottle with white cap using the right arm, then shake.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Lift the yellow bottle with a green design with the right arm and shake.", + "Use the right arm to lift and shake the yellow bottle.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "With the right arm, pick the bottle with a smooth plastic body and shake properly.", + "Hold and shake the the bottle with a smooth plastic body carefully.", + "Shake the medium rectangular yellow bottle after holding it firmly.", + "Pick the smooth bottle with rounded edges up with the right arm and shake.", + "Utilize the right arm to hold the yellow bottle and shake it.", + "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.", + "Shake the yellow bottle with a green design using the right arm after grabbing.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Grab the yellow bottle with a green design and give it a shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Shake the plastic bottle firmly after grabbing.", + "Take the plastic bottle using the right arm and give it a shake.", + "Pick the medium rectangular yellow bottle and perform shaking motion.", + "Shake the yellow bottle with a green design after grabbing it.", + "Grab the yellow bottle with a green design with the right arm and shake.", + "Use the right arm to grab the bottle with green and white labels and shake properly.", + "Pick up the bottle with green and white labels and shake it.", + "Pick the yellow plastic bottle with white top, shake it with the right arm.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Grasp the smooth bottle with rounded edges with the right arm and shake it.", + "Grab the medium rectangular yellow bottle carefully and shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Hold the bottle with white cap and shake it properly.", + "Use the right arm to pick and shake the yellow bottle.", + "Shake the the bottle with a smooth plastic body properly after lifting.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Lift up the yellow bottle with a green design using the right arm, then shake.", + "Shake the bottle with green label after lifting it.", + "Hold the bottle with white cap steady, then shake it.", + "Lift the bottle with green label with the right arm and give it a shake.", + "Pick up the rectangular bottle with cylindrical neck and shake it well.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Lift the bottle with green label with the right arm and shake it.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Pick the yellow plastic bottle with white top up using the right arm and shake it.", + "Hold the rectangular bottle with cylindrical neck with the right arm and shake lightly.", + "Lift the bottle with green and white labels and shake it gently.", + "Grip the bottle with white cap using the right arm and shake.", + "Grab and shake the bottle with white cap using the right arm.", + "Use the right arm to hold the bottle with a smooth plastic body and shake it.", + "Grab the plastic bottle and move it to shake.", + "Grab the bottle with white cap using the right arm, then shake.", + "Catch the bottle with a smooth plastic body and shake it instantly.", + "Shake the bottle with a smooth plastic body thoroughly after grabbing it.", + "Lift the yellow bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "With the right arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Shake the bottle with a smooth plastic body after holding it firmly.", + "Pick the plastic bottle up with the right arm and shake.", + "Utilize the right arm to hold the yellow container with rounded edges and shake it.", + "Use the right arm to lift and shake the yellow plastic bottle with white top." + ], + "unseen": [ + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode124.json b/shake_bottle/ur5_randomized_500/instructions/episode124.json new file mode 100644 index 0000000000000000000000000000000000000000..c93be898b521b410f95934922004553c299336b1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode124.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.", + "Pick the plastic bottle with colorful label and perform shaking motion.", + "Grab the medium bottle with yellow cap with the right arm and shake.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Shake the black cylindrical bottle with ridges using the right arm after grabbing.", + "Shake the black bottle after holding it firmly.", + "Shake the beverage bottle with black body after grabbing it.", + "With the right arm, pick the medium black bottle with printed label and shake properly.", + "Grab and shake the black cylindrical bottle with ridges using the right arm.", + "Lift the drink bottle with rounded yellow lid and shake it thoroughly.", + "Shake the yellow capped drink bottle after grabbing it.", + "Grab the medium black bottle with printed label using the right arm, then shake.", + "Lift up the black plastic bottle with Pepsi logo using the right arm, then shake.", + "Use the right arm to grab the medium black bottle with printed label and shake properly.", + "Hold the yellow-capped cylindrical bottle, shake it briefly.", + "Pick up the yellow capped drink bottle and shake it well.", + "Utilize the right arm to hold the smooth black bottle with ridges and shake it.", + "Secure the black bottle and perform a shake.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Use the right arm to grab the bottle with blue and yellow print and shake it.", + "Pick the medium black bottle with printed label up using the right arm and shake it.", + "Catch the black cylindrical bottle with ridges and shake it instantly.", + "Grip the medium bottle with yellow cap using the right arm and shake.", + "Shake the bottle with blue and yellow print after lifting it.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Shake the the bottle with blue and yellow print properly after lifting.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Hold the black bottle with the right arm and shake lightly.", + "Hold the bottle with blue and yellow print and shake it properly.", + "Lift the plastic bottle with colorful label with the right arm and shake it.", + "Use the right arm to pick and shake the plastic bottle with colorful label.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Lift the black plastic bottle with Pepsi logo with the right arm and give it a shake.", + "Use the right arm to hold the yellow-capped cylindrical bottle and shake it.", + "Hold the yellow capped drink bottle steady, then shake it.", + "Lift the drink bottle with rounded yellow lid with the right arm and shake.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Using the right arm, shake the medium bottle with yellow cap and then place it back.", + "Pick up the yellow-capped cylindrical bottle and shake it.", + "Hold and shake the the yellow capped drink bottle carefully.", + "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.", + "Shake the drink bottle with rounded yellow lid firmly after grabbing.", + "Pick the plastic bottle with colorful label up with the right arm and shake.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Lift the medium black bottle with printed label and shake it gently.", + "Grasp the yellow capped drink bottle with the right arm and shake it.", + "Pick the black bottle, shake it with the right arm.", + "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.", + "Grab the beverage bottle with black body and move it to shake.", + "Secure the black bottle, shake it, and place it down.", + "Shake the black bottle thoroughly after grabbing it.", + "Pick the black plastic bottle with Pepsi logo and perform shaking motion.", + "Grab the bottle with blue and yellow print with the right arm and shake.", + "Grab the black cylindrical bottle with ridges and shake it steadily.", + "Shake the medium black bottle with printed label using the right arm after grabbing.", + "Shake the medium bottle with yellow cap after holding it firmly.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "With the right arm, pick the black bottle and shake properly.", + "Grab and shake the medium bottle with yellow cap using the right arm.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Shake the beverage bottle with black body after grabbing it.", + "Grab the beverage bottle with black body using the right arm, then shake.", + "Lift up the plastic bottle with colorful label using the right arm, then shake.", + "Use the right arm to grab the yellow-capped cylindrical bottle and shake properly.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Pick up the yellow capped drink bottle and shake it well.", + "Utilize the right arm to hold the bottle with blue and yellow print and shake it.", + "Secure the drink bottle with rounded yellow lid and perform a shake.", + "Use the right arm to lift and shake the yellow-capped cylindrical bottle.", + "Use the right arm to grab the yellow capped drink bottle and shake it.", + "Pick the black plastic bottle with Pepsi logo up using the right arm and shake it.", + "Catch the yellow capped drink bottle and shake it instantly.", + "Grip the black plastic bottle with Pepsi logo using the right arm and shake.", + "Shake the black plastic bottle with Pepsi logo after lifting it.", + "Grab the drink bottle with rounded yellow lid carefully and shake.", + "Shake the the drink bottle with rounded yellow lid properly after lifting.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Hold the drink bottle with rounded yellow lid with the right arm and shake lightly.", + "Hold the medium bottle with yellow cap and shake it properly.", + "Lift the medium black bottle with printed label with the right arm and shake it.", + "Use the right arm to pick and shake the drink bottle with rounded yellow lid.", + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Lift the black cylindrical bottle with ridges with the right arm and give it a shake.", + "Use the right arm to hold the medium bottle with yellow cap and shake it.", + "Hold the smooth black bottle with ridges steady, then shake it.", + "Lift the plastic bottle with colorful label with the right arm and shake.", + "Use the right arm to lift and shake the yellow capped drink bottle.", + "Using the right arm, shake the medium bottle with yellow cap and then place it back.", + "Pick up the medium black bottle with printed label and shake it.", + "Hold and shake the the medium bottle with yellow cap carefully.", + "Take the yellow-capped cylindrical bottle using the right arm and give it a shake.", + "Shake the black cylindrical bottle with ridges firmly after grabbing.", + "Pick the plastic bottle with colorful label up with the right arm and shake.", + "Grab the black plastic bottle with Pepsi logo firmly, shake it, and put it down.", + "Lift the yellow capped drink bottle and shake it gently.", + "Grasp the black bottle with the right arm and shake it.", + "Pick the drink bottle with rounded yellow lid, shake it with the right arm.", + "Use the right arm to lift and shake the black bottle.", + "Grab the drink bottle with rounded yellow lid and move it to shake." + ], + "unseen": [ + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to grab the bottle with ridges near base and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode125.json b/shake_bottle/ur5_randomized_500/instructions/episode125.json new file mode 100644 index 0000000000000000000000000000000000000000..8ae0e490588c5ca37faf7724e67bd17b16203a1e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode125.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the plastic drink bottle and shake it.", + "Hold the brown bottle with red label steady, then shake it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the hand-sized soda bottle and give it a shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Pick up the smooth bottle with red lid and shake it.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Pick the long thin bottle up with the right arm and shake.", + "Shake the narrow-necked bottle after lifting it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Hold the brown bottle with red label and shake it properly.", + "Shake the long thin bottle firmly after grabbing.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the hand-sized soda bottle carefully and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Lift the red-capped bottle and shake it thoroughly.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Secure the bottle with white neck and red top and perform a shake.", + "Lift the smooth bottle with red lid and shake it gently.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Grab the red-capped bottle and shake it steadily.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Hold the long thin bottle steady, then shake it.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Shake the the long thin bottle properly after lifting.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the smooth bottle with red lid and give it a shake.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Pick the brown bottle with red label and perform shaking motion.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Shake the red-capped bottle firmly after grabbing.", + "Pick up the medium dark brown bottle and shake it well.", + "Grab the hand-sized soda bottle carefully and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Secure the medium dark brown bottle and perform a shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Lift the plastic drink bottle with the right arm and shake.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Secure the long thin bottle, shake it, and place it down.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Lift up the long thin bottle using the right arm, then shake.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode126.json b/shake_bottle/ur5_randomized_500/instructions/episode126.json new file mode 100644 index 0000000000000000000000000000000000000000..8de72065def9f21cb13decfb1d30994adcd72a56 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode126.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the blue bottle with the left arm and shake.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Grab the white and blue bottle and give it a shake.", + "Grab the white bottle with blue accents and move it to shake.", + "Hold and shake the the medium-sized bottle carefully.", + "Pick up the blue bottle and shake it well.", + "Shake the the smooth plastic bottle properly after lifting.", + "Using the left arm, shake the blue bottle and then place it back.", + "Utilize the left arm to hold the bottle for liquids and shake it.", + "Pick up the white and blue bottle and shake it.", + "Lift the handheld bottle with the left arm and give it a shake.", + "Grasp the blue bottle with label with the left arm and shake it.", + "Use the left arm to lift and shake the white and blue bottle.", + "Shake the white and blue bottle thoroughly after grabbing it.", + "Lift the medium-sized bottle and shake it gently.", + "Shake the plastic bottle after grabbing it.", + "Take the medium-sized bottle using the left arm and give it a shake.", + "Grip the white bottle with blue accents using the left arm and shake.", + "Use the left arm to grab the white bottle with blue accents and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Use the left arm to pick and shake the cylindrical bottle.", + "Hold the blue bottle and shake it properly.", + "Shake the blue bottle after grabbing it.", + "Shake the medium-sized bottle firmly after grabbing.", + "Pick the blue bottle up using the left arm and shake it.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Grab the plastic bottle and shake it steadily.", + "Grab the bottle for liquids carefully and shake.", + "Grab and shake the bottle for liquids using the left arm.", + "Use the left arm to lift and shake the blue bottle with label.", + "Secure the medium-sized bottle and perform a shake.", + "Shake the medium-sized bottle after lifting it.", + "Lift the bottle with blue cap with the left arm and shake.", + "Pick the bottle with blue cap and perform shaking motion.", + "Lift the medium bottle for beverages and shake it thoroughly.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Shake the bottle with blue cap after grabbing it.", + "Shake the plastic bottle after holding it firmly.", + "Use the left arm to hold the medium bottle for beverages and shake it.", + "Hold the white and blue bottle steady, then shake it.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the handheld bottle.", + "Lift up the white bottle with blue accents using the left arm, then shake.", + "Pick the plastic bottle, shake it with the left arm.", + "Shake the bottle with blue cap using the left arm after grabbing.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "Catch the medium bottle for beverages and shake it instantly.", + "Hold the medium bottle for beverages, shake it briefly.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Grab the white bottle with blue accents with the left arm and shake.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Grab the bottle for liquids and give it a shake.", + "Grab the bottle for liquids and move it to shake.", + "Hold and shake the the plastic bottle carefully.", + "Pick up the cylindrical bottle and shake it well.", + "Shake the the bottle with blue cap properly after lifting.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Pick up the blue bottle and shake it.", + "Lift the bottle for liquids with the left arm and give it a shake.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Use the left arm to lift and shake the blue bottle.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Lift the cylindrical bottle and shake it gently.", + "Shake the plastic bottle after grabbing it.", + "Take the bottle with blue cap using the left arm and give it a shake.", + "Grip the white and blue bottle using the left arm and shake.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Pick the bottle with blue cap up with the left arm and shake.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Hold the blue bottle with label and shake it properly.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the medium-sized bottle firmly after grabbing.", + "Pick the cylindrical bottle up using the left arm and shake it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grab the bottle with blue cap and shake it steadily.", + "Grab the medium bottle for beverages carefully and shake.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Secure the white bottle with blue accents and perform a shake.", + "Shake the blue bottle with label after lifting it.", + "Lift the blue bottle with the left arm and shake.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Lift the bottle with blue cap and shake it thoroughly.", + "Secure the bottle with blue cap, shake it, and place it down.", + "Shake the bottle for liquids after grabbing it.", + "Shake the white bottle with blue accents after holding it firmly.", + "Use the left arm to hold the blue bottle with label and shake it.", + "Hold the bottle for liquids steady, then shake it.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift up the medium bottle for beverages using the left arm, then shake.", + "Pick the white bottle with blue accents, shake it with the left arm.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Catch the blue bottle with label and shake it instantly.", + "Hold the blue bottle with label, shake it briefly.", + "With the left arm, pick the medium-sized bottle and shake properly." + ], + "unseen": [ + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode127.json b/shake_bottle/ur5_randomized_500/instructions/episode127.json new file mode 100644 index 0000000000000000000000000000000000000000..07781490457304eabbc94ef0f2645179ac35e069 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode127.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the red-capped bottle and perform shaking motion.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Use the left arm to hold the long thin bottle and shake it.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Pick the long thin bottle, shake it with the left arm.", + "Shake the the red-capped bottle properly after lifting.", + "Grab the smooth bottle with red lid and move it to shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Shake the Coca-Cola bottle after grabbing it.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Grab the brown bottle with red label and shake it steadily.", + "Lift the long thin bottle with the left arm and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Pick up the long thin bottle and shake it.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Shake the Coca-Cola bottle after lifting it.", + "Grab the brown bottle with red label carefully and shake.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Grab the smooth bottle with red lid and give it a shake.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Pick up the long thin bottle and shake it well.", + "Hold the medium dark brown bottle, shake it briefly.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Shake the plastic drink bottle after holding it firmly.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Shake the the long thin bottle properly after lifting.", + "Grab the medium dark brown bottle and move it to shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the red-capped bottle after grabbing it.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the plastic drink bottle with the left arm and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Pick up the red-capped bottle and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Hold the narrow-necked bottle and shake it properly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the medium dark brown bottle after lifting it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Hold and shake the the red-capped bottle carefully.", + "Grab the brown bottle with red label and give it a shake.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Catch the long thin bottle and shake it instantly.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Grab and shake the plastic drink bottle using the left arm.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Shake the plastic drink bottle after holding it firmly." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode128.json b/shake_bottle/ur5_randomized_500/instructions/episode128.json new file mode 100644 index 0000000000000000000000000000000000000000..7b90da2b36bbfd415e40d7ac9921d653f39d39cb --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode128.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the ridged orange bottle with grooves using the left arm, then shake.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Use the left arm to pick and shake the curved orange soda bottle.", + "Grasp the curved orange soda bottle with the left arm and shake it.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Grab and shake the medium bottle with colorful label using the left arm.", + "Hold and shake the the light and medium-sized bottle carefully.", + "Grab the orange bottle carefully and shake.", + "Use the left arm to lift and shake the orange bottle.", + "Hold the medium bottle with colorful label, shake it briefly.", + "Grip the grooved orange drink bottle using the left arm and shake.", + "Hold the curved orange soda bottle steady, then shake it.", + "Shake the the grooved orange drink bottle properly after lifting.", + "Lift the curved orange soda bottle and shake it thoroughly.", + "Use the left arm to grab the ridged orange bottle with grooves and shake it.", + "Shake the grooved orange drink bottle firmly after grabbing.", + "Hold the bottle for holding drinks and shake it properly.", + "Using the left arm, shake the curved orange soda bottle and then place it back.", + "Use the left arm to hold the round-bottom bottle with white cap and shake it.", + "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.", + "Grab the curved orange soda bottle and move it to shake.", + "Grab the plastic bottle with the left arm and shake.", + "Pick the bottle for holding drinks, shake it with the left arm.", + "Lift the ridged orange bottle with grooves with the left arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Shake the curved orange soda bottle after grabbing it.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Shake the bottle for holding drinks using the left arm after grabbing.", + "Lift the ridged orange bottle with grooves with the left arm and shake it.", + "Pick the orange bottle up using the left arm and shake it.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Grab the cylindrical orange plastic bottle and shake it steadily.", + "Utilize the left arm to hold the round-bottom bottle with white cap and shake it.", + "Grab the orange bottle and give it a shake.", + "Use the left arm to grab the ridged orange bottle with grooves and shake properly.", + "Shake the round-bottom bottle with white cap after lifting it.", + "Take the orange drink bottle with label using the left arm and give it a shake.", + "Pick up the light and medium-sized bottle and shake it well.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Shake the grooved orange drink bottle after grabbing it.", + "Pick the cylindrical orange plastic bottle up with the left arm and shake.", + "With the left arm, pick the ridged orange bottle with grooves and shake properly.", + "Shake the ridged orange bottle with grooves after holding it firmly.", + "Hold the bottle for holding drinks with the left arm and shake lightly.", + "Shake the medium bottle with colorful label after grabbing it.", + "Pick up the curved orange soda bottle and shake it.", + "Lift the bottle for holding drinks with the left arm and give it a shake.", + "Grab the orange drink bottle with label using the left arm, then shake.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Use the left arm to pick and shake the curved orange soda bottle.", + "Grasp the cylindrical orange plastic bottle with the left arm and shake it.", + "Secure the orange drink bottle with label and perform a shake.", + "Grab and shake the cylindrical orange plastic bottle using the left arm.", + "Hold and shake the the curved orange soda bottle carefully.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Hold the orange bottle, shake it briefly.", + "Grip the cylindrical orange plastic bottle using the left arm and shake.", + "Hold the ridged orange bottle with grooves steady, then shake it.", + "Shake the the orange bottle properly after lifting.", + "Lift the bottle for holding drinks and shake it thoroughly.", + "Use the left arm to grab the cylindrical orange plastic bottle and shake it.", + "Shake the grooved orange drink bottle firmly after grabbing.", + "Hold the round-bottom bottle with white cap and shake it properly.", + "Using the left arm, shake the smooth orange bottle and then place it back.", + "Use the left arm to hold the grooved orange drink bottle and shake it.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Grab the grooved orange drink bottle and move it to shake.", + "Grab the light and medium-sized bottle with the left arm and shake.", + "Pick the orange bottle, shake it with the left arm.", + "Lift the curved orange soda bottle with the left arm and shake.", + "Lift the curved orange soda bottle and shake it gently.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Shake the ridged orange bottle with grooves using the left arm after grabbing.", + "Lift the ridged orange bottle with grooves with the left arm and shake it.", + "Pick the orange drink bottle with label up using the left arm and shake it.", + "Pick the cylindrical orange plastic bottle and perform shaking motion.", + "Shake the orange bottle thoroughly after grabbing it.", + "Grab the orange bottle and shake it steadily.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Grab the orange bottle and give it a shake.", + "Use the left arm to grab the bottle for holding drinks and shake properly.", + "Shake the orange drink bottle with label after lifting it.", + "Take the grooved orange drink bottle using the left arm and give it a shake.", + "Pick up the curved orange soda bottle and shake it well.", + "Lift up the smooth orange bottle using the left arm, then shake.", + "Shake the bottle for holding drinks after grabbing it.", + "Pick the round-bottom bottle with white cap up with the left arm and shake.", + "With the left arm, pick the ridged orange bottle with grooves and shake properly.", + "Shake the plastic bottle after holding it firmly.", + "Hold the curved orange soda bottle with the left arm and shake lightly.", + "Shake the orange drink bottle with label after grabbing it.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Lift the plastic bottle with the left arm and give it a shake." + ], + "unseen": [ + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode129.json b/shake_bottle/ur5_randomized_500/instructions/episode129.json new file mode 100644 index 0000000000000000000000000000000000000000..43c88ad8d23a85641b605f8d10ad26395f366371 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode129.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the cylindrical orange plastic bottle and perform shaking motion.", + "Shake the light and medium-sized bottle after grabbing it.", + "Shake the round-bottom bottle with white cap using the right arm after grabbing.", + "Grab the plastic bottle carefully and shake.", + "Hold the smooth orange bottle with the right arm and shake lightly.", + "Grab the curved orange soda bottle with the right arm and shake.", + "Take the cylindrical orange plastic bottle using the right arm and give it a shake.", + "Hold the light and medium-sized bottle, shake it briefly.", + "Grab the light and medium-sized bottle and move it to shake.", + "Pick up the bottle for holding drinks and shake it.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Lift the plastic bottle with the right arm and shake it.", + "Pick the grooved orange drink bottle, shake it with the right arm.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Lift the orange bottle and shake it thoroughly.", + "Hold the plastic bottle steady, then shake it.", + "Catch the plastic bottle and shake it instantly.", + "With the right arm, pick the orange drink bottle with label and shake properly.", + "Grasp the medium bottle with colorful label with the right arm and shake it.", + "Grab the cylindrical orange plastic bottle and shake it steadily.", + "Grip the light and medium-sized bottle using the right arm and shake.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Shake the the light and medium-sized bottle properly after lifting.", + "Shake the grooved orange drink bottle after grabbing it.", + "Lift the bottle for holding drinks and shake it gently.", + "Use the right arm to grab the bottle for holding drinks and shake it.", + "Pick the bottle for holding drinks up using the right arm and shake it.", + "Grab the curved orange soda bottle firmly, shake it, and put it down.", + "Grab the smooth orange bottle using the right arm, then shake.", + "Use the right arm to lift and shake the light and medium-sized bottle.", + "Lift up the orange drink bottle with label using the right arm, then shake.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Using the right arm, shake the orange bottle and then place it back.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Secure the round-bottom bottle with white cap and perform a shake.", + "Use the right arm to lift and shake the curved orange soda bottle.", + "Lift the orange drink bottle with label with the right arm and shake.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Pick up the orange drink bottle with label and shake it well.", + "Grab the orange bottle and give it a shake.", + "Hold the light and medium-sized bottle and shake it properly.", + "Pick the ridged orange bottle with grooves up with the right arm and shake.", + "Grab and shake the orange drink bottle with label using the right arm.", + "Use the right arm to hold the orange drink bottle with label and shake it.", + "Use the right arm to grab the cylindrical orange plastic bottle and shake properly.", + "Utilize the right arm to hold the medium bottle with colorful label and shake it.", + "Use the right arm to pick and shake the curved orange soda bottle.", + "Shake the grooved orange drink bottle after grabbing it.", + "Shake the medium bottle with colorful label after lifting it.", + "Pick the medium bottle with colorful label and perform shaking motion.", + "Shake the smooth orange bottle after grabbing it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Grab the plastic bottle carefully and shake.", + "Hold the orange bottle with the right arm and shake lightly.", + "Grab the round-bottom bottle with white cap with the right arm and shake.", + "Take the orange drink bottle with label using the right arm and give it a shake.", + "Hold the smooth orange bottle, shake it briefly.", + "Grab the bottle for holding drinks and move it to shake.", + "Pick up the orange drink bottle with label and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the orange bottle thoroughly after grabbing it.", + "Lift the plastic bottle with the right arm and shake it.", + "Pick the medium bottle with colorful label, shake it with the right arm.", + "Secure the orange bottle, shake it, and place it down.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the orange bottle steady, then shake it.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "With the right arm, pick the curved orange soda bottle and shake properly.", + "Grasp the orange bottle with the right arm and shake it.", + "Grab the plastic bottle and shake it steadily.", + "Grip the ridged orange bottle with grooves using the right arm and shake.", + "Hold and shake the the medium bottle with colorful label carefully.", + "Shake the the plastic bottle properly after lifting.", + "Shake the smooth orange bottle after grabbing it.", + "Lift the orange bottle and shake it gently.", + "Use the right arm to grab the ridged orange bottle with grooves and shake it.", + "Pick the orange drink bottle with label up using the right arm and shake it.", + "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.", + "Grab the orange bottle using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the smooth orange bottle after holding it firmly.", + "Using the right arm, shake the orange bottle and then place it back.", + "Use the right arm to lift and shake the plastic bottle.", + "Secure the smooth orange bottle and perform a shake.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Lift the round-bottom bottle with white cap with the right arm and shake.", + "Lift the curved orange soda bottle with the right arm and give it a shake.", + "Pick up the ridged orange bottle with grooves and shake it well.", + "Grab the orange bottle and give it a shake.", + "Hold the medium bottle with colorful label and shake it properly.", + "Pick the orange bottle up with the right arm and shake.", + "Grab and shake the plastic bottle using the right arm.", + "Use the right arm to hold the orange drink bottle with label and shake it.", + "Use the right arm to grab the orange drink bottle with label and shake properly.", + "Utilize the right arm to hold the orange drink bottle with label and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Shake the cylindrical orange plastic bottle after lifting it." + ], + "unseen": [ + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white cap.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white cap.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white cap.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white cap.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with white cap with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode13.json b/shake_bottle/ur5_randomized_500/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..f19a17d237d7cbf2f459750b1189fa6c2efcc5ea --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the green bottle with white label and shake it well.", + "Pick the smooth green and yellow bottle up using the left arm and shake it.", + "With the left arm, pick the green bottle with black text label and shake properly.", + "Grab the green bottle with black text label and move it to shake.", + "Take the handheld plastic bottle using the left arm and give it a shake.", + "Secure the plastic bottle with colored label, shake it, and place it down.", + "Pick up the green bottle and shake it.", + "Lift the bottle with glossy plastic finish with the left arm and shake it.", + "Shake the bottle with glossy plastic finish thoroughly after grabbing it.", + "Shake the cylindrical liquid bottle with yellow top after holding it firmly.", + "Pick the green bottle with black text label and perform shaking motion.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the smooth green and yellow bottle and shake properly.", + "Lift the smooth green and yellow bottle with the left arm and shake.", + "Pick the bottle with glossy plastic finish up with the left arm and shake.", + "Use the left arm to hold the green bottle and shake it.", + "Lift the medium bottle with green body with the left arm and give it a shake.", + "Hold the plastic bottle with colored label, shake it briefly.", + "Hold the cylindrical bottle with rounded cap and shake it properly.", + "Shake the plastic bottle firmly after grabbing.", + "Grasp the plastic bottle with the left arm and shake it.", + "Hold the cylindrical bottle with rounded cap steady, then shake it.", + "Use the left arm to lift and shake the smooth green and yellow bottle.", + "Shake the green bottle after lifting it.", + "Grab the cylindrical bottle with rounded cap firmly, shake it, and put it down.", + "Secure the bottle with glossy plastic finish and perform a shake.", + "Grab the bottle with glossy plastic finish using the left arm, then shake.", + "Hold and shake the the green bottle carefully.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Grip the smooth green and yellow bottle using the left arm and shake.", + "Grab the smooth green and yellow bottle carefully and shake.", + "Grab and shake the green bottle with black text label using the left arm.", + "Use the left arm to grab the green bottle with black text label and shake it.", + "Utilize the left arm to hold the cylindrical bottle with rounded cap and shake it.", + "Use the left arm to pick and shake the cylindrical liquid bottle with yellow top.", + "Grab the cylindrical liquid bottle with yellow top and shake it steadily.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to lift and shake the bottle with glossy plastic finish.", + "Pick the cylindrical liquid bottle with yellow top, shake it with the left arm.", + "Lift the cylindrical liquid bottle with yellow top and shake it gently.", + "Shake the green bottle after grabbing it.", + "Grab the plastic bottle with colored label with the left arm and shake.", + "Hold the green bottle with black text label with the left arm and shake lightly.", + "Catch the cylindrical liquid bottle with yellow top and shake it instantly.", + "Shake the the handheld plastic bottle properly after lifting.", + "Shake the smooth green and yellow bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the cylindrical bottle with rounded cap.", + "Lift up the plastic bottle using the left arm, then shake.", + "Pick up the handheld plastic bottle and shake it well.", + "Pick the smooth green and yellow bottle up using the left arm and shake it.", + "With the left arm, pick the smooth green and yellow bottle and shake properly.", + "Grab the smooth green and yellow bottle and move it to shake.", + "Take the green bottle with black text label using the left arm and give it a shake.", + "Secure the green bottle with white label, shake it, and place it down.", + "Pick up the green bottle and shake it.", + "Lift the medium bottle with green body with the left arm and shake it.", + "Shake the medium bottle with green body thoroughly after grabbing it.", + "Shake the smooth green and yellow bottle after holding it firmly.", + "Pick the smooth green and yellow bottle and perform shaking motion.", + "Shake the handheld plastic bottle after grabbing it.", + "Use the left arm to grab the cylindrical bottle with rounded cap and shake properly.", + "Lift the smooth green and yellow bottle with the left arm and shake.", + "Pick the handheld plastic bottle up with the left arm and shake.", + "Use the left arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Lift the bottle with glossy plastic finish with the left arm and give it a shake.", + "Hold the green bottle, shake it briefly.", + "Hold the green bottle with white label and shake it properly.", + "Shake the green bottle with white label firmly after grabbing.", + "Grasp the bottle with glossy plastic finish with the left arm and shake it.", + "Hold the bottle with glossy plastic finish steady, then shake it.", + "Use the left arm to lift and shake the cylindrical bottle with rounded cap.", + "Shake the cylindrical liquid bottle with yellow top after lifting it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Secure the bottle with yellow cap and perform a shake.", + "Grab the handheld plastic bottle using the left arm, then shake.", + "Hold and shake the the bottle with yellow cap carefully.", + "Using the left arm, shake the cylindrical bottle with rounded cap and then place it back.", + "Grip the cylindrical bottle with rounded cap using the left arm and shake.", + "Grab the plastic bottle with colored label carefully and shake.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to grab the green bottle with white label and shake it.", + "Utilize the left arm to hold the green bottle and shake it.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the smooth green and yellow bottle and shake it steadily.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Shake the handheld plastic bottle after grabbing it.", + "Grab the plastic bottle with colored label and give it a shake.", + "Use the left arm to lift and shake the cylindrical bottle with rounded cap.", + "Pick the plastic bottle with colored label, shake it with the left arm.", + "Lift the medium bottle with green body and shake it gently.", + "Shake the green bottle after grabbing it.", + "Grab the cylindrical bottle with rounded cap with the left arm and shake.", + "Hold the handheld plastic bottle with the left arm and shake lightly.", + "Catch the handheld plastic bottle and shake it instantly.", + "Shake the the plastic bottle with colored label properly after lifting.", + "Shake the plastic bottle with colored label using the left arm after grabbing.", + "Use the left arm to lift and shake the medium bottle with green body.", + "Lift up the cylindrical bottle with rounded cap using the left arm, then shake." + ], + "unseen": [ + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Use the left arm to pick the medium-sized drink bottle.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Use the left arm to pick the medium-sized drink bottle.", + "Grab the bottle with green base and black prints and give it a shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode130.json b/shake_bottle/ur5_randomized_500/instructions/episode130.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed675135c114e0d7e66ab98c828d915f2088e90 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode130.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the bottle with orange screw cap carefully.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Pick up the handheld white bottle with cap and shake it.", + "Shake the bottle with tapering neck after grabbing it.", + "Shake the handheld white bottle with cap after holding it firmly.", + "Lift the medium-sized bottle with the right arm and shake.", + "Grasp the white cylindrical bottle with the right arm and shake it.", + "Lift up the white bottle using the right arm, then shake.", + "Secure the white bottle for liquids, shake it, and place it down.", + "Shake the the white bottle for liquids properly after lifting.", + "Shake the handheld white bottle with cap firmly after grabbing.", + "Shake the white bottle with orange lid thoroughly after grabbing it.", + "Lift the white cylindrical bottle and shake it gently.", + "Lift the handheld white bottle with cap and shake it thoroughly.", + "Grab the medium-sized bottle and give it a shake.", + "Grab the handheld white bottle with cap carefully and shake.", + "Grab the plastic bottle and shake it steadily.", + "Using the right arm, shake the white bottle for liquids and then place it back.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Lift the white bottle with red text with the right arm and shake it.", + "Use the right arm to grab the medium-sized bottle and shake properly.", + "Hold the bottle with tapering neck steady, then shake it.", + "Pick the plastic bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the white bottle for liquids.", + "Grab the medium-sized bottle and move it to shake.", + "Hold the cylindrical bottle with red writing, shake it briefly.", + "Grab the handheld white bottle with cap with the right arm and shake.", + "Grab and shake the bottle with orange screw cap using the right arm.", + "Hold the handheld white bottle with cap and shake it properly.", + "Shake the white bottle with red text after grabbing it.", + "Shake the white bottle using the right arm after grabbing.", + "Catch the white bottle with orange lid and shake it instantly.", + "Pick up the handheld white bottle with cap and shake it well.", + "Use the right arm to lift and shake the cylindrical bottle with red writing.", + "Use the right arm to lift and shake the white cylindrical bottle.", + "Pick the bottle with tapering neck up with the right arm and shake.", + "Use the right arm to hold the white bottle and shake it.", + "Pick the white bottle with orange lid and perform shaking motion.", + "Shake the smooth bottle after grabbing it.", + "Take the white bottle with orange lid using the right arm and give it a shake.", + "Shake the bottle with orange screw cap after lifting it.", + "Secure the plastic bottle and perform a shake.", + "Hold the white cylindrical bottle with the right arm and shake lightly.", + "Grab the white bottle with orange lid firmly, shake it, and put it down.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the bottle with tapering neck using the right arm, then shake.", + "Pick the white bottle with red text, shake it with the right arm.", + "Use the right arm to grab the white cylindrical bottle and shake it.", + "Lift the white bottle with red text with the right arm and give it a shake.", + "Hold and shake the the white bottle with orange lid carefully.", + "Use the right arm to lift and shake the white bottle for liquids.", + "Pick up the bottle with tapering neck and shake it.", + "Shake the white bottle with red text after grabbing it.", + "Shake the smooth bottle after holding it firmly.", + "Lift the white bottle for liquids with the right arm and shake.", + "Grasp the white bottle for liquids with the right arm and shake it.", + "Lift up the white bottle using the right arm, then shake.", + "Secure the white bottle with red text, shake it, and place it down.", + "Shake the the white bottle with orange lid properly after lifting.", + "Shake the bottle with orange screw cap firmly after grabbing.", + "Shake the white bottle with red text thoroughly after grabbing it.", + "Lift the white cylindrical bottle and shake it gently.", + "Lift the white bottle with red text and shake it thoroughly.", + "Grab the bottle with tapering neck and give it a shake.", + "Grab the bottle with orange screw cap carefully and shake.", + "Grab the white bottle with orange lid and shake it steadily.", + "Using the right arm, shake the white bottle with red text and then place it back.", + "Utilize the right arm to hold the white bottle with orange lid and shake it.", + "With the right arm, pick the white bottle with red text and shake properly.", + "Lift the white bottle with red text with the right arm and shake it.", + "Use the right arm to grab the cylindrical bottle with red writing and shake properly.", + "Hold the white bottle for liquids steady, then shake it.", + "Pick the smooth bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the white bottle.", + "Grab the white bottle and move it to shake.", + "Hold the white bottle with orange lid, shake it briefly.", + "Grab the white cylindrical bottle with the right arm and shake.", + "Grab and shake the bottle with tapering neck using the right arm.", + "Hold the white cylindrical bottle and shake it properly.", + "Shake the smooth bottle after grabbing it.", + "Shake the white bottle with orange lid using the right arm after grabbing.", + "Catch the bottle with orange screw cap and shake it instantly.", + "Pick up the white cylindrical bottle and shake it well.", + "Use the right arm to lift and shake the smooth bottle.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the bottle with orange screw cap up with the right arm and shake.", + "Use the right arm to hold the white bottle with red text and shake it.", + "Pick the white bottle and perform shaking motion.", + "Shake the white bottle with red text after grabbing it.", + "Take the white bottle using the right arm and give it a shake.", + "Shake the cylindrical bottle with red writing after lifting it.", + "Secure the white bottle for liquids and perform a shake.", + "Hold the white bottle with red text with the right arm and shake lightly.", + "Grab the white bottle with orange lid firmly, shake it, and put it down.", + "Grip the handheld white bottle with cap using the right arm and shake.", + "Grab the white bottle with orange lid using the right arm, then shake.", + "Pick the white bottle with red text, shake it with the right arm.", + "Use the right arm to grab the smooth bottle and shake it.", + "Lift the medium-sized bottle with the right arm and give it a shake." + ], + "unseen": [ + "Grab the bottle with glossy surface and give it a shake.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with orange cap and give it a shake.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode131.json b/shake_bottle/ur5_randomized_500/instructions/episode131.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7eeaa77308c6ee5b8467207775a0291fcb5b58 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode131.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the yellow plastic bottle with white top and then place it back.", + "Use the right arm to pick and shake the yellow bottle.", + "Pick the smooth bottle with rounded edges, shake it with the right arm.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Pick the bottle with green and white labels up with the right arm and shake.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Pick the yellow bottle up using the right arm and shake it.", + "Lift the bottle with green and white labels with the right arm and shake.", + "Shake the yellow container with rounded edges using the right arm after grabbing.", + "Utilize the right arm to hold the medium rectangular yellow bottle and shake it.", + "Lift the yellow container with rounded edges and shake it gently.", + "Shake the yellow bottle after lifting it.", + "Take the bottle with green label using the right arm and give it a shake.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Hold and shake the the medium rectangular yellow bottle carefully.", + "Grab the smooth bottle with rounded edges and give it a shake.", + "With the right arm, pick the yellow container with rounded edges and shake properly.", + "Grip the smooth bottle with rounded edges using the right arm and shake.", + "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Shake the yellow bottle with a green design after holding it firmly.", + "Grab and shake the bottle with green and white labels using the right arm.", + "Grasp the plastic bottle with the right arm and shake it.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Secure the yellow bottle, shake it, and place it down.", + "Grab the bottle with white cap with the right arm and shake.", + "Pick the smooth bottle with rounded edges and perform shaking motion.", + "Shake the the plastic bottle properly after lifting.", + "Grab the bottle with a smooth plastic body using the right arm, then shake.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Use the right arm to grab the plastic bottle and shake it.", + "Lift the yellow plastic bottle with white top with the right arm and give it a shake.", + "Lift the bottle with green label with the right arm and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "Hold the bottle with a smooth plastic body and shake it properly.", + "Secure the yellow bottle and perform a shake.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Grab the yellow container with rounded edges carefully and shake.", + "Catch the bottle with white cap and shake it instantly.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Grab the plastic bottle and shake it steadily.", + "Use the right arm to hold the bottle with a smooth plastic body and shake it.", + "Hold the medium rectangular yellow bottle with the right arm and shake lightly.", + "Shake the bottle with green label thoroughly after grabbing it.", + "Using the right arm, shake the smooth bottle with rounded edges and then place it back.", + "Use the right arm to pick and shake the smooth bottle with rounded edges.", + "Pick the bottle with a smooth plastic body, shake it with the right arm.", + "Lift the bottle with green label and shake it thoroughly.", + "Pick the yellow container with rounded edges up with the right arm and shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Grab the bottle with white cap and move it to shake.", + "Pick the yellow plastic bottle with white top up using the right arm and shake it.", + "Lift the yellow plastic bottle with white top with the right arm and shake.", + "Shake the rectangular bottle with cylindrical neck using the right arm after grabbing.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Lift the plastic bottle and shake it gently.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Take the yellow container with rounded edges using the right arm and give it a shake.", + "Use the right arm to grab the yellow plastic bottle with white top and shake properly.", + "Hold and shake the the bottle with green label carefully.", + "Grab the smooth bottle with rounded edges and give it a shake.", + "With the right arm, pick the medium rectangular yellow bottle and shake properly.", + "Grip the bottle with green label using the right arm and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the yellow bottle after holding it firmly.", + "Grab and shake the bottle with green and white labels using the right arm.", + "Grasp the yellow bottle with a green design with the right arm and shake it.", + "Pick up the yellow container with rounded edges and shake it well.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Grab the smooth bottle with rounded edges with the right arm and shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Shake the the smooth bottle with rounded edges properly after lifting.", + "Grab the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Hold the smooth bottle with rounded edges, shake it briefly.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Use the right arm to grab the yellow bottle and shake it.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Hold the bottle with green label and shake it properly.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Grab the smooth bottle with rounded edges carefully and shake.", + "Catch the bottle with white cap and shake it instantly.", + "Pick up the bottle with white cap and shake it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Shake the yellow container with rounded edges after grabbing it.", + "Grab the yellow bottle and shake it steadily.", + "Use the right arm to hold the bottle with green and white labels and shake it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode132.json b/shake_bottle/ur5_randomized_500/instructions/episode132.json new file mode 100644 index 0000000000000000000000000000000000000000..33e847a5fb04ca03e8f028207cfd4432ece653a2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode132.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the orange bottle using the right arm and shake.", + "Hold and shake the the bottle with yellow cap carefully.", + "Hold the bottle for liquids steady, then shake it.", + "Shake the orange cylindrical bottle firmly after grabbing.", + "Pick up the cylindrical orange bottle with yellow top and shake it.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "With the right arm, pick the plastic bottle with sealed yellow cap and shake properly.", + "Pick up the smooth plastic bottle and shake it well.", + "Shake the bottle with yellow cap after grabbing it.", + "Lift the cylindrical orange bottle with yellow top with the right arm and shake.", + "Lift the cylindrical orange bottle with yellow top with the right arm and shake it.", + "Pick the orange bottle up using the right arm and shake it.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Hold the orange cylindrical bottle, shake it briefly.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Grab the medium-sized orange bottle using the right arm, then shake.", + "Pick the bottle with narrow neck, shake it with the right arm.", + "Take the bottle with yellow cap using the right arm and give it a shake.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the bottle with narrow neck and shake it properly.", + "Grab the cylindrical orange bottle with yellow top with the right arm and shake.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Use the right arm to hold the medium-sized orange bottle and shake it.", + "Shake the the yellow-capped plastic bottle properly after lifting.", + "Shake the bottle with narrow neck thoroughly after grabbing it.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Pick the bottle for liquids up with the right arm and shake.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Use the right arm to grab the orange cylindrical bottle and shake properly.", + "Grab and shake the medium-sized orange bottle using the right arm.", + "Shake the bottle with yellow cap after lifting it.", + "Grab the bottle for liquids and give it a shake.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Grab the plastic bottle and move it to shake.", + "Using the right arm, shake the plastic bottle with sealed yellow cap and then place it back.", + "Shake the bottle with yellow cap after grabbing it.", + "Grab the smooth plastic bottle and shake it steadily.", + "Lift the orange cylindrical bottle with the right arm and give it a shake.", + "Shake the bottle with printed label after holding it firmly.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Use the right arm to pick and shake the medium-sized orange bottle.", + "Lift the smooth plastic bottle and shake it gently.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.", + "Grip the cylindrical orange bottle with yellow top using the right arm and shake.", + "Hold and shake the the bottle with printed label carefully.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Shake the orange cylindrical bottle firmly after grabbing.", + "Pick up the plastic bottle and shake it.", + "Secure the bottle for liquids, shake it, and place it down.", + "Use the right arm to grab the orange bottle and shake it.", + "Pick the orange cylindrical bottle and perform shaking motion.", + "With the right arm, pick the yellow-capped plastic bottle and shake properly.", + "Pick up the medium-sized orange bottle and shake it well.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Lift the bottle with narrow neck with the right arm and shake.", + "Lift the cylindrical orange bottle with yellow top with the right arm and shake it.", + "Pick the bottle with yellow cap up using the right arm and shake it.", + "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Hold the bottle for liquids with the right arm and shake lightly.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Pick the orange bottle, shake it with the right arm.", + "Take the orange cylindrical bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle for liquids.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Hold the plastic bottle and shake it properly.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Grasp the plastic bottle with the right arm and shake it.", + "Use the right arm to hold the orange cylindrical bottle and shake it.", + "Shake the the plastic bottle with sealed yellow cap properly after lifting.", + "Shake the orange bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Utilize the right arm to hold the bottle with yellow cap and shake it.", + "Pick the yellow-capped plastic bottle up with the right arm and shake.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Shake the bottle with narrow neck after lifting it.", + "Grab the bottle with printed label and give it a shake.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Grab the bottle for liquids and move it to shake.", + "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the bottle with narrow neck and shake it steadily.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Shake the orange bottle after holding it firmly.", + "Secure the yellow-capped plastic bottle and perform a shake.", + "Use the right arm to pick and shake the orange bottle.", + "Lift the bottle with narrow neck and shake it gently.", + "Grab the orange bottle carefully and shake.", + "Grab the bottle with yellow cap firmly, shake it, and put it down." + ], + "unseen": [ + "Use the right arm to pick the label-covered orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode133.json b/shake_bottle/ur5_randomized_500/instructions/episode133.json new file mode 100644 index 0000000000000000000000000000000000000000..1640b9cc920a7312adcf0758e8bcc700b14b5f06 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode133.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab and shake the cylindrical orange plastic bottle using the right arm.", + "Hold the light and medium-sized bottle and shake it properly.", + "Use the right arm to grab the ridged orange bottle with grooves and shake properly.", + "Shake the orange bottle after lifting it.", + "Grab the smooth orange bottle and shake it steadily.", + "Grip the medium bottle with colorful label using the right arm and shake.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Lift the light and medium-sized bottle with the right arm and shake it.", + "Hold the light and medium-sized bottle with the right arm and shake lightly.", + "Pick the orange drink bottle with label and perform shaking motion.", + "Pick the smooth orange bottle up with the right arm and shake.", + "Lift the ridged orange bottle with grooves with the right arm and give it a shake.", + "Grab the round-bottom bottle with white cap and give it a shake.", + "Using the right arm, shake the orange drink bottle with label and then place it back.", + "Use the right arm to grab the round-bottom bottle with white cap and shake it.", + "Pick the light and medium-sized bottle, shake it with the right arm.", + "Use the right arm to lift and shake the smooth orange bottle.", + "Catch the smooth orange bottle and shake it instantly.", + "Lift up the grooved orange drink bottle using the right arm, then shake.", + "Shake the round-bottom bottle with white cap after holding it firmly.", + "Pick the grooved orange drink bottle up using the right arm and shake it.", + "Lift the curved orange soda bottle with the right arm and shake.", + "Hold the orange drink bottle with label, shake it briefly.", + "Use the right arm to pick and shake the curved orange soda bottle.", + "With the right arm, pick the smooth orange bottle and shake properly.", + "Grab the bottle for holding drinks using the right arm, then shake.", + "Hold the curved orange soda bottle steady, then shake it.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Secure the orange bottle, shake it, and place it down.", + "Pick up the medium bottle with colorful label and shake it well.", + "Utilize the right arm to hold the orange drink bottle with label and shake it.", + "Shake the orange drink bottle with label after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Hold and shake the the round-bottom bottle with white cap carefully.", + "Use the right arm to lift and shake the orange bottle.", + "Pick up the curved orange soda bottle and shake it.", + "Shake the light and medium-sized bottle using the right arm after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Take the smooth orange bottle using the right arm and give it a shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Secure the grooved orange drink bottle and perform a shake.", + "Shake the orange bottle after grabbing it.", + "Use the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Shake the medium bottle with colorful label firmly after grabbing.", + "Lift the light and medium-sized bottle and shake it gently.", + "Grab the orange drink bottle with label carefully and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the cylindrical orange plastic bottle with the right arm and shake.", + "Grasp the cylindrical orange plastic bottle with the right arm and shake it.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Grab and shake the bottle for holding drinks using the right arm.", + "Hold the medium bottle with colorful label and shake it properly.", + "Use the right arm to grab the bottle for holding drinks and shake properly.", + "Shake the light and medium-sized bottle after lifting it.", + "Grab the smooth orange bottle and shake it steadily.", + "Grip the round-bottom bottle with white cap using the right arm and shake.", + "Shake the the smooth orange bottle properly after lifting.", + "Lift the curved orange soda bottle with the right arm and shake it.", + "Hold the orange drink bottle with label with the right arm and shake lightly.", + "Pick the plastic bottle and perform shaking motion.", + "Pick the smooth orange bottle up with the right arm and shake.", + "Lift the light and medium-sized bottle with the right arm and give it a shake.", + "Grab the light and medium-sized bottle and give it a shake.", + "Using the right arm, shake the medium bottle with colorful label and then place it back.", + "Use the right arm to grab the smooth orange bottle and shake it.", + "Pick the curved orange soda bottle, shake it with the right arm.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Catch the medium bottle with colorful label and shake it instantly.", + "Lift up the bottle for holding drinks using the right arm, then shake.", + "Shake the bottle for holding drinks after holding it firmly.", + "Pick the light and medium-sized bottle up using the right arm and shake it.", + "Lift the curved orange soda bottle with the right arm and shake.", + "Hold the orange drink bottle with label, shake it briefly.", + "Use the right arm to pick and shake the cylindrical orange plastic bottle.", + "With the right arm, pick the round-bottom bottle with white cap and shake properly.", + "Grab the ridged orange bottle with grooves using the right arm, then shake.", + "Hold the ridged orange bottle with grooves steady, then shake it.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Pick up the orange drink bottle with label and shake it well.", + "Utilize the right arm to hold the orange drink bottle with label and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the medium bottle with colorful label and move it to shake.", + "Hold and shake the the bottle for holding drinks carefully.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Pick up the light and medium-sized bottle and shake it.", + "Shake the orange drink bottle with label using the right arm after grabbing.", + "Shake the light and medium-sized bottle after grabbing it.", + "Take the cylindrical orange plastic bottle using the right arm and give it a shake.", + "Lift the light and medium-sized bottle and shake it thoroughly.", + "Secure the medium bottle with colorful label and perform a shake.", + "Shake the bottle for holding drinks after grabbing it.", + "Use the right arm to hold the grooved orange drink bottle and shake it.", + "Shake the ridged orange bottle with grooves firmly after grabbing.", + "Lift the orange drink bottle with label and shake it gently.", + "Grab the light and medium-sized bottle carefully and shake.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Grab the orange drink bottle with label with the right arm and shake.", + "Grasp the cylindrical orange plastic bottle with the right arm and shake it." + ], + "unseen": [ + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode134.json b/shake_bottle/ur5_randomized_500/instructions/episode134.json new file mode 100644 index 0000000000000000000000000000000000000000..98f221746bd5c8c57158c1364dbfd176202f4612 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode134.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, shake the bottle with green label and then place it back.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold and shake the the bottle with green label carefully.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Shake the yellow bottle after grabbing it.", + "Use the left arm to lift and shake the yellow bottle.", + "Pick the yellow bottle, shake it with the left arm.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Use the left arm to grab the yellow bottle with a green design and shake it.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "Shake the plastic bottle after holding it firmly.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Grab the yellow bottle carefully and shake.", + "Grip the bottle with white cap using the left arm and shake.", + "Shake the yellow bottle after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Shake the yellow plastic bottle with white top using the left arm after grabbing.", + "Utilize the left arm to hold the bottle with green label and shake it.", + "Pick up the yellow bottle with a green design and shake it.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Grab the bottle with green and white labels and shake it steadily.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Grab the bottle with green label using the left arm, then shake.", + "Shake the the bottle with green and white labels properly after lifting.", + "Lift up the smooth bottle with rounded edges using the left arm, then shake.", + "With the left arm, pick the smooth bottle with rounded edges and shake properly.", + "Pick the bottle with green label up using the left arm and shake it.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Grab the yellow bottle and move it to shake.", + "Grab the yellow bottle with the left arm and shake.", + "Hold the bottle with green and white labels steady, then shake it.", + "Shake the bottle with green label after lifting it.", + "Lift the rectangular bottle with cylindrical neck with the left arm and give it a shake.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Grab the bottle with green and white labels firmly, shake it, and put it down.", + "Grab the plastic bottle and give it a shake.", + "Hold the yellow bottle with a green design and shake it properly.", + "Grasp the bottle with a smooth plastic body with the left arm and shake it.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Lift the yellow plastic bottle with white top with the left arm and shake.", + "Lift the yellow bottle with the left arm and shake it.", + "Using the left arm, shake the yellow plastic bottle with white top and then place it back.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold and shake the the smooth bottle with rounded edges carefully.", + "Use the left arm to grab the smooth bottle with rounded edges and shake properly.", + "Shake the yellow container with rounded edges after grabbing it.", + "Use the left arm to lift and shake the bottle with green label.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Grab and shake the smooth bottle with rounded edges using the left arm.", + "Use the left arm to grab the bottle with green and white labels and shake it.", + "Lift the yellow container with rounded edges and shake it gently.", + "Shake the plastic bottle after holding it firmly.", + "Pick the bottle with green and white labels up with the left arm and shake.", + "Grab the bottle with green and white labels carefully and shake.", + "Grip the rectangular bottle with cylindrical neck using the left arm and shake.", + "Shake the bottle with green label after grabbing it.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Shake the yellow plastic bottle with white top using the left arm after grabbing.", + "Utilize the left arm to hold the bottle with green label and shake it.", + "Pick up the bottle with green label and shake it.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Hold the plastic bottle, shake it briefly.", + "Grab the yellow plastic bottle with white top and shake it steadily.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Grab the yellow bottle using the left arm, then shake.", + "Shake the the plastic bottle properly after lifting.", + "Lift up the yellow bottle using the left arm, then shake.", + "With the left arm, pick the bottle with green label and shake properly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Shake the bottle with white cap firmly after grabbing.", + "Grab the bottle with white cap and move it to shake.", + "Grab the bottle with green label with the left arm and shake.", + "Hold the bottle with white cap steady, then shake it.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Lift the medium rectangular yellow bottle and shake it thoroughly.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Hold the bottle with green and white labels and shake it properly.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Catch the bottle with green and white labels and shake it instantly.", + "Secure the yellow bottle with a green design and perform a shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Take the bottle with green label using the left arm and give it a shake.", + "Lift the yellow bottle with a green design with the left arm and shake.", + "Lift the yellow plastic bottle with white top with the left arm and shake it." + ], + "unseen": [ + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode135.json b/shake_bottle/ur5_randomized_500/instructions/episode135.json new file mode 100644 index 0000000000000000000000000000000000000000..67d89bbd8515bbb52cbc2baa261eb33798f3e78c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode135.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth cylindrical bottle after holding it firmly.", + "Using the left arm, shake the rounded body bottle made of plastic and then place it back.", + "Pick the smooth cylindrical bottle and perform shaking motion.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Use the left arm to grab the gray bottle with slight shine and shake properly.", + "Lift the smooth cylindrical bottle with the left arm and give it a shake.", + "Pick the plastic bottle with ghost print up using the left arm and shake it.", + "Shake the milk-bottle shape design after grabbing it.", + "Hold the light gray colored container bottle, shake it briefly.", + "Pick up the medium-sized plastic bottle and shake it well.", + "With the left arm, pick the rounded body bottle made of plastic and shake properly.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Lift up the light gray colored container bottle using the left arm, then shake.", + "Shake the milk-bottle shape design using the left arm after grabbing.", + "Grab the milk-bottle shape design using the left arm, then shake.", + "Pick up the gray bottle with slight shine and shake it.", + "Hold the plastic bottle with ghost print and shake it properly.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Shake the light gray colored container bottle firmly after grabbing.", + "Secure the milk-bottle shape design and perform a shake.", + "Secure the rounded body bottle made of plastic, shake it, and place it down.", + "Hold the medium-sized plastic bottle with the left arm and shake lightly.", + "Catch the medium-sized plastic bottle and shake it instantly.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Hold and shake the the medium cylinder-shaped bottle carefully.", + "Lift the bottle shaped like small cylinder and shake it thoroughly.", + "Grab the medium-sized plastic bottle and give it a shake.", + "Pick the gray bottle with slight shine up with the left arm and shake.", + "Grab the gray bottle with slight shine carefully and shake.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Grip the milk-bottle shape design using the left arm and shake.", + "Grab the light gray colored container bottle firmly, shake it, and put it down.", + "Grab the bottle shaped like small cylinder and move it to shake.", + "Lift the bottle with cute ghost drawing and shake it gently.", + "Grab and shake the milk-bottle shape design using the left arm.", + "Pick the bottle with cute ghost drawing, shake it with the left arm.", + "Hold the gray bottle with slight shine steady, then shake it.", + "Use the left arm to pick and shake the smooth surface bottle with gray shade.", + "Use the left arm to lift and shake the bottle with cute ghost drawing.", + "Lift the light gray colored container bottle with the left arm and shake it.", + "Use the left arm to grab the plastic bottle with ghost print and shake it.", + "Lift the milk-bottle shape design with the left arm and shake.", + "Grab the medium cylinder-shaped bottle and shake it steadily.", + "Use the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Grab the bottle shaped like small cylinder with the left arm and shake.", + "Shake the the hand-sized bottle with screw cap properly after lifting.", + "Utilize the left arm to hold the plastic bottle with ghost print and shake it.", + "Grasp the light gray colored container bottle with the left arm and shake it.", + "Take the hand-sized bottle with screw cap using the left arm and give it a shake.", + "Shake the milk-bottle shape design after lifting it.", + "Shake the milk-bottle shape design after holding it firmly.", + "Using the left arm, shake the milk-bottle shape design and then place it back.", + "Pick the bottle with cute ghost drawing and perform shaking motion.", + "Shake the rounded body bottle made of plastic thoroughly after grabbing it.", + "Use the left arm to grab the light gray colored container bottle and shake properly.", + "Lift the smooth cylindrical bottle with the left arm and give it a shake.", + "Pick the smooth cylindrical bottle up using the left arm and shake it.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Hold the light gray colored container bottle, shake it briefly.", + "Pick up the milk-bottle shape design and shake it well.", + "With the left arm, pick the light gray colored container bottle and shake properly.", + "Shake the bottle shaped like small cylinder after grabbing it.", + "Lift up the medium cylinder-shaped bottle using the left arm, then shake.", + "Shake the smooth surface bottle with gray shade using the left arm after grabbing.", + "Grab the bottle shaped like small cylinder using the left arm, then shake.", + "Pick up the smooth cylindrical bottle and shake it.", + "Hold the medium-sized plastic bottle and shake it properly.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Shake the smooth surface bottle with gray shade firmly after grabbing.", + "Secure the gray bottle with slight shine and perform a shake.", + "Secure the bottle with cute ghost drawing, shake it, and place it down.", + "Hold the gray bottle with slight shine with the left arm and shake lightly.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Use the left arm to lift and shake the milk-bottle shape design.", + "Hold and shake the the hand-sized bottle with screw cap carefully.", + "Lift the milk-bottle shape design and shake it thoroughly.", + "Grab the hand-sized bottle with screw cap and give it a shake.", + "Pick the light gray colored container bottle up with the left arm and shake.", + "Grab the hand-sized bottle with screw cap carefully and shake.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Grip the rounded body bottle made of plastic using the left arm and shake.", + "Grab the medium cylinder-shaped bottle firmly, shake it, and put it down.", + "Grab the bottle with cute ghost drawing and move it to shake.", + "Lift the hand-sized bottle with screw cap and shake it gently.", + "Grab and shake the gray bottle with slight shine using the left arm.", + "Pick the smooth cylindrical bottle, shake it with the left arm.", + "Hold the bottle with cute ghost drawing steady, then shake it.", + "Use the left arm to pick and shake the bottle shaped like small cylinder.", + "Use the left arm to lift and shake the smooth surface bottle with gray shade.", + "Lift the smooth cylindrical bottle with the left arm and shake it.", + "Use the left arm to grab the plastic bottle with ghost print and shake it.", + "Lift the bottle shaped like small cylinder with the left arm and shake.", + "Grab the milk-bottle shape design and shake it steadily.", + "Use the left arm to hold the bottle with cute ghost drawing and shake it.", + "Grab the bottle shaped like small cylinder with the left arm and shake.", + "Shake the the bottle with cute ghost drawing properly after lifting.", + "Utilize the left arm to hold the rounded body bottle made of plastic and shake it.", + "Grasp the bottle shaped like small cylinder with the left arm and shake it.", + "Take the milk-bottle shape design using the left arm and give it a shake.", + "Shake the smooth cylindrical bottle after lifting it." + ], + "unseen": [ + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Shake the gray bottle for holding drinks after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode136.json b/shake_bottle/ur5_randomized_500/instructions/episode136.json new file mode 100644 index 0000000000000000000000000000000000000000..2f59bb048429a64e54f42ef5601d32cd10225245 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode136.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth bottle with rounded edges using the left arm and give it a shake.", + "Use the left arm to pick and shake the bottle with green and white labels.", + "Grab and shake the yellow container with rounded edges using the left arm.", + "Pick the yellow container with rounded edges, shake it with the left arm.", + "Secure the bottle with a smooth plastic body and perform a shake.", + "Shake the plastic bottle after lifting it.", + "Lift the plastic bottle with the left arm and shake it.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with white cap.", + "Lift the bottle with green and white labels and shake it gently.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Lift the rectangular bottle with cylindrical neck with the left arm and give it a shake.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Grab the smooth bottle with rounded edges and shake it steadily.", + "Lift the yellow container with rounded edges with the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Shake the bottle with green and white labels after grabbing it.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "Shake the bottle with green and white labels after grabbing it.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Shake the bottle with green label using the left arm after grabbing.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Pick the bottle with green label up with the left arm and shake.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Grip the rectangular bottle with cylindrical neck using the left arm and shake.", + "Grab the medium rectangular yellow bottle carefully and shake.", + "Lift up the medium rectangular yellow bottle using the left arm, then shake.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Grab the yellow plastic bottle with white top and move it to shake.", + "Catch the yellow bottle with a green design and shake it instantly.", + "Hold the smooth bottle with rounded edges and shake it properly.", + "Use the left arm to grab the yellow bottle and shake it.", + "Grab the bottle with green and white labels and give it a shake.", + "Pick the yellow bottle with a green design up using the left arm and shake it.", + "Hold the yellow plastic bottle with white top, shake it briefly.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Pick up the bottle with green label and shake it well.", + "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Shake the bottle with a smooth plastic body after holding it firmly.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Use the left arm to hold the medium rectangular yellow bottle and shake it.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Grab the bottle with green label with the left arm and shake.", + "Grab the bottle with a smooth plastic body using the left arm, then shake.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Take the bottle with green and white labels using the left arm and give it a shake.", + "Use the left arm to pick and shake the medium rectangular yellow bottle.", + "Grab and shake the yellow bottle with a green design using the left arm.", + "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Lift the bottle with white cap with the left arm and shake it.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Shake the the smooth bottle with rounded edges properly after lifting.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Pick up the medium rectangular yellow bottle and shake it.", + "Lift the bottle with green and white labels with the left arm and give it a shake.", + "Shake the yellow plastic bottle with white top firmly after grabbing.", + "Grab the yellow plastic bottle with white top and shake it steadily.", + "Lift the bottle with green label with the left arm and shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Hold the yellow plastic bottle with white top with the left arm and shake lightly.", + "Shake the yellow container with rounded edges after grabbing it.", + "Hold and shake the the bottle with white cap carefully.", + "Shake the yellow bottle using the left arm after grabbing.", + "Use the left arm to grab the yellow bottle with a green design and shake properly.", + "Using the left arm, shake the smooth bottle with rounded edges and then place it back.", + "Pick the plastic bottle up with the left arm and shake.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Pick the bottle with a smooth plastic body and perform shaking motion.", + "Grip the bottle with white cap using the left arm and shake.", + "Grab the bottle with green and white labels carefully and shake.", + "Lift up the medium rectangular yellow bottle using the left arm, then shake.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Hold the bottle with green label and shake it properly.", + "Use the left arm to grab the bottle with green label and shake it.", + "Grab the yellow bottle and give it a shake.", + "Pick the medium rectangular yellow bottle up using the left arm and shake it.", + "Hold the smooth bottle with rounded edges, shake it briefly.", + "Utilize the left arm to hold the bottle with a smooth plastic body and shake it.", + "Pick up the plastic bottle and shake it well.", + "Grasp the bottle with a smooth plastic body with the left arm and shake it.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Secure the yellow bottle, shake it, and place it down.", + "Use the left arm to hold the yellow container with rounded edges and shake it.", + "Use the left arm to lift and shake the bottle with green label.", + "Grab the bottle with a smooth plastic body with the left arm and shake.", + "Grab the bottle with green and white labels using the left arm, then shake.", + "With the left arm, pick the yellow container with rounded edges and shake properly.", + "Use the left arm to lift and shake the bottle with green label." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode137.json b/shake_bottle/ur5_randomized_500/instructions/episode137.json new file mode 100644 index 0000000000000000000000000000000000000000..50d2fad2e933cda263840d572582360260069caf --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode137.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with cute ghost drawing after lifting it.", + "Using the left arm, shake the medium-sized plastic bottle and then place it back.", + "Shake the medium-sized plastic bottle firmly after grabbing.", + "Lift the smooth cylindrical bottle with the left arm and shake.", + "Shake the milk-bottle shape design using the left arm after grabbing.", + "Hold the bottle with cute ghost drawing, shake it briefly.", + "Grab the medium-sized plastic bottle using the left arm, then shake.", + "Grab the smooth cylindrical bottle and give it a shake.", + "Hold the bottle with cute ghost drawing steady, then shake it.", + "Grab the bottle with cute ghost drawing and move it to shake.", + "Take the smooth surface bottle with gray shade using the left arm and give it a shake.", + "Use the left arm to lift and shake the hand-sized bottle with screw cap.", + "Use the left arm to pick and shake the rounded body bottle made of plastic.", + "Use the left arm to lift and shake the hand-sized bottle with screw cap.", + "Catch the smooth surface bottle with gray shade and shake it instantly.", + "Use the left arm to lift and shake the hand-sized bottle with screw cap.", + "Grab the gray bottle with slight shine with the left arm and shake.", + "Use the left arm to hold the hand-sized bottle with screw cap and shake it.", + "Shake the the medium-sized plastic bottle properly after lifting.", + "Use the left arm to grab the light gray colored container bottle and shake properly.", + "Grip the milk-bottle shape design using the left arm and shake.", + "Hold the bottle shaped like small cylinder and shake it properly.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Use the left arm to grab the bottle shaped like small cylinder and shake it.", + "Grab the hand-sized bottle with screw cap and shake it steadily.", + "Secure the smooth surface bottle with gray shade and perform a shake.", + "Lift the bottle shaped like small cylinder and shake it gently.", + "Grasp the hand-sized bottle with screw cap with the left arm and shake it.", + "Grab and shake the bottle shaped like small cylinder using the left arm.", + "Hold and shake the the hand-sized bottle with screw cap carefully.", + "Lift the medium cylinder-shaped bottle and shake it thoroughly.", + "Pick the smooth surface bottle with gray shade, shake it with the left arm.", + "Pick the medium-sized plastic bottle and perform shaking motion.", + "Lift up the plastic bottle with ghost print using the left arm, then shake.", + "Hold the light gray colored container bottle with the left arm and shake lightly.", + "Pick up the plastic bottle with ghost print and shake it well.", + "Grab the hand-sized bottle with screw cap firmly, shake it, and put it down.", + "With the left arm, pick the light gray colored container bottle and shake properly.", + "Grab the milk-bottle shape design carefully and shake.", + "Pick up the plastic bottle with ghost print and shake it.", + "Shake the light gray colored container bottle after grabbing it.", + "Pick the gray bottle with slight shine up using the left arm and shake it.", + "Shake the bottle with cute ghost drawing after holding it firmly.", + "Pick the medium-sized plastic bottle up with the left arm and shake.", + "Utilize the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Lift the smooth cylindrical bottle with the left arm and shake it.", + "Shake the smooth cylindrical bottle thoroughly after grabbing it.", + "Lift the gray bottle with slight shine with the left arm and give it a shake.", + "Secure the smooth cylindrical bottle, shake it, and place it down.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Shake the plastic bottle with ghost print after lifting it.", + "Using the left arm, shake the rounded body bottle made of plastic and then place it back.", + "Shake the hand-sized bottle with screw cap firmly after grabbing.", + "Lift the bottle shaped like small cylinder with the left arm and shake.", + "Shake the plastic bottle with ghost print using the left arm after grabbing.", + "Hold the medium-sized plastic bottle, shake it briefly.", + "Grab the light gray colored container bottle using the left arm, then shake.", + "Grab the plastic bottle with ghost print and give it a shake.", + "Hold the bottle shaped like small cylinder steady, then shake it.", + "Grab the medium-sized plastic bottle and move it to shake.", + "Take the milk-bottle shape design using the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Use the left arm to pick and shake the medium cylinder-shaped bottle.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Catch the hand-sized bottle with screw cap and shake it instantly.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Grab the smooth surface bottle with gray shade with the left arm and shake.", + "Use the left arm to hold the medium-sized plastic bottle and shake it.", + "Shake the the rounded body bottle made of plastic properly after lifting.", + "Use the left arm to grab the medium-sized plastic bottle and shake properly.", + "Grip the hand-sized bottle with screw cap using the left arm and shake.", + "Hold the gray bottle with slight shine and shake it properly.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Use the left arm to grab the milk-bottle shape design and shake it.", + "Grab the bottle with cute ghost drawing and shake it steadily.", + "Secure the milk-bottle shape design and perform a shake.", + "Lift the bottle shaped like small cylinder and shake it gently.", + "Grasp the smooth surface bottle with gray shade with the left arm and shake it.", + "Grab and shake the bottle shaped like small cylinder using the left arm.", + "Hold and shake the the smooth surface bottle with gray shade carefully.", + "Lift the smooth cylindrical bottle and shake it thoroughly.", + "Pick the gray bottle with slight shine, shake it with the left arm.", + "Pick the medium-sized plastic bottle and perform shaking motion.", + "Lift up the medium-sized plastic bottle using the left arm, then shake.", + "Hold the light gray colored container bottle with the left arm and shake lightly.", + "Pick up the bottle shaped like small cylinder and shake it well.", + "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.", + "With the left arm, pick the plastic bottle with ghost print and shake properly.", + "Grab the milk-bottle shape design carefully and shake.", + "Pick up the milk-bottle shape design and shake it.", + "Shake the light gray colored container bottle after grabbing it.", + "Pick the medium cylinder-shaped bottle up using the left arm and shake it.", + "Shake the smooth surface bottle with gray shade after holding it firmly.", + "Pick the medium cylinder-shaped bottle up with the left arm and shake.", + "Utilize the left arm to hold the milk-bottle shape design and shake it.", + "Lift the hand-sized bottle with screw cap with the left arm and shake it.", + "Shake the smooth surface bottle with gray shade thoroughly after grabbing it.", + "Lift the smooth cylindrical bottle with the left arm and give it a shake.", + "Secure the bottle shaped like small cylinder, shake it, and place it down.", + "Shake the bottle shaped like small cylinder after grabbing it." + ], + "unseen": [ + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode138.json b/shake_bottle/ur5_randomized_500/instructions/episode138.json new file mode 100644 index 0000000000000000000000000000000000000000..c9d3c06b5b2d9ab3854ac45f3afcd6d0a702b13a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode138.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the smooth plastic bottle and shake it.", + "Hold and shake the the handheld bottle carefully.", + "Pick the plastic bottle and perform shaking motion.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the blue bottle.", + "Hold the plastic bottle, shake it briefly.", + "Grab the blue bottle with label and move it to shake.", + "Shake the plastic bottle after lifting it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the medium-sized bottle carefully and shake.", + "Lift up the handheld bottle using the left arm, then shake.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Grab and shake the plastic bottle using the left arm.", + "Grasp the handheld bottle with the left arm and shake it.", + "With the left arm, pick the white bottle with blue accents and shake properly.", + "Grab the blue bottle with label and shake it steadily.", + "Shake the bottle with blue cap after grabbing it.", + "Lift the white bottle with blue accents and shake it gently.", + "Hold the cylindrical bottle and shake it properly.", + "Utilize the left arm to hold the blue bottle and shake it.", + "Shake the cylindrical bottle after grabbing it.", + "Use the left arm to grab the bottle with blue cap and shake properly.", + "Grab the medium bottle for beverages with the left arm and shake.", + "Lift the medium bottle for beverages and shake it thoroughly.", + "Pick up the blue bottle and shake it well.", + "Shake the bottle with blue cap after holding it firmly.", + "Using the left arm, shake the medium-sized bottle and then place it back.", + "Secure the blue bottle with label, shake it, and place it down.", + "Pick the plastic bottle, shake it with the left arm.", + "Pick the handheld bottle up with the left arm and shake.", + "Shake the white bottle with blue accents thoroughly after grabbing it.", + "Shake the the blue bottle properly after lifting.", + "Grip the bottle for liquids using the left arm and shake.", + "Take the blue bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the blue bottle.", + "Shake the handheld bottle after grabbing it.", + "Grab the blue bottle using the left arm, then shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Grab the blue bottle and give it a shake.", + "Use the left arm to hold the bottle with blue cap and shake it.", + "Pick up the white and blue bottle and shake it.", + "Lift the medium-sized bottle with the left arm and shake.", + "Use the left arm to pick and shake the white bottle with blue accents.", + "Secure the smooth plastic bottle and perform a shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Lift the cylindrical bottle with the left arm and shake it.", + "Hold the handheld bottle steady, then shake it.", + "Hold the white bottle with blue accents with the left arm and shake lightly.", + "Shake the cylindrical bottle firmly after grabbing.", + "Catch the medium-sized bottle and shake it instantly.", + "Use the left arm to grab the white bottle with blue accents and shake it.", + "Hold and shake the the handheld bottle carefully.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Hold the plastic bottle, shake it briefly.", + "Grab the smooth plastic bottle and move it to shake.", + "Shake the medium bottle for beverages after lifting it.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Grab the bottle for liquids carefully and shake.", + "Lift up the blue bottle using the left arm, then shake.", + "Grab the handheld bottle firmly, shake it, and put it down.", + "Grab and shake the blue bottle with label using the left arm.", + "Grasp the white and blue bottle with the left arm and shake it.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Grab the plastic bottle and shake it steadily.", + "Shake the white and blue bottle after grabbing it.", + "Lift the white bottle with blue accents and shake it gently.", + "Hold the cylindrical bottle and shake it properly.", + "Utilize the left arm to hold the blue bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the white bottle with blue accents and shake properly.", + "Grab the white and blue bottle with the left arm and shake.", + "Lift the blue bottle with label and shake it thoroughly.", + "Pick up the cylindrical bottle and shake it well.", + "Shake the medium bottle for beverages after holding it firmly.", + "Using the left arm, shake the medium-sized bottle and then place it back.", + "Secure the handheld bottle, shake it, and place it down.", + "Pick the blue bottle with label, shake it with the left arm.", + "Pick the bottle for liquids up with the left arm and shake.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Shake the the bottle for liquids properly after lifting.", + "Grip the blue bottle using the left arm and shake.", + "Take the handheld bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Shake the bottle with blue cap after grabbing it.", + "Grab the white and blue bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to hold the white bottle with blue accents and shake it.", + "Pick up the medium-sized bottle and shake it.", + "Lift the handheld bottle with the left arm and shake.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Secure the blue bottle with label and perform a shake.", + "Shake the white and blue bottle using the left arm after grabbing.", + "Lift the white and blue bottle with the left arm and shake it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "Shake the medium bottle for beverages firmly after grabbing.", + "Catch the cylindrical bottle and shake it instantly." + ], + "unseen": [ + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode139.json b/shake_bottle/ur5_randomized_500/instructions/episode139.json new file mode 100644 index 0000000000000000000000000000000000000000..bbc97e673b3618a8cec62d104949841453340070 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode139.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the medium rectangular yellow bottle, shake it with the left arm.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Use the left arm to lift and shake the bottle with green label.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Lift the smooth bottle with rounded edges with the left arm and shake it.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Pick the bottle with green label and perform shaking motion.", + "Pick the yellow bottle up with the left arm and shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Catch the bottle with green and white labels and shake it instantly.", + "Pick up the yellow bottle and shake it well.", + "Shake the yellow bottle after grabbing it.", + "Shake the the bottle with a smooth plastic body properly after lifting.", + "Hold the plastic bottle steady, then shake it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Use the left arm to grab the smooth bottle with rounded edges and shake it.", + "Grip the bottle with green label using the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Use the left arm to pick and shake the rectangular bottle with cylindrical neck.", + "Grab the bottle with a smooth plastic body using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Hold the bottle with green label, shake it briefly.", + "Use the left arm to hold the smooth bottle with rounded edges and shake it.", + "Grab the bottle with green and white labels and give it a shake.", + "Utilize the left arm to hold the smooth bottle with rounded edges and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "Use the left arm to grab the bottle with green label and shake properly.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Lift up the smooth bottle with rounded edges using the left arm, then shake.", + "Grasp the medium rectangular yellow bottle with the left arm and shake it.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Lift the smooth bottle with rounded edges with the left arm and give it a shake.", + "Lift the bottle with green and white labels with the left arm and shake.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Pick up the bottle with a smooth plastic body and shake it.", + "Shake the bottle with a smooth plastic body using the left arm after grabbing.", + "Grab and shake the medium rectangular yellow bottle using the left arm.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold and shake the the bottle with white cap carefully.", + "Hold the yellow container with rounded edges and shake it properly.", + "Pick the yellow bottle up using the left arm and shake it.", + "Secure the yellow bottle and perform a shake.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Use the left arm to lift and shake the bottle with white cap.", + "Grab the plastic bottle carefully and shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Grab the yellow bottle and shake it steadily.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Shake the bottle with green and white labels after grabbing it.", + "Pick the yellow container with rounded edges and perform shaking motion.", + "Pick the bottle with green and white labels up with the left arm and shake.", + "Secure the bottle with white cap, shake it, and place it down.", + "Shake the smooth bottle with rounded edges firmly after grabbing.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Shake the bottle with green label after grabbing it.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Hold the bottle with green label steady, then shake it.", + "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.", + "Use the left arm to grab the yellow bottle with a green design and shake it.", + "Grip the yellow plastic bottle with white top using the left arm and shake.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Use the left arm to pick and shake the yellow bottle.", + "Grab the yellow bottle using the left arm, then shake.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Lift the medium rectangular yellow bottle and shake it thoroughly.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Shake the rectangular bottle with cylindrical neck after lifting it.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Use the left arm to hold the yellow bottle with a green design and shake it.", + "Grab the yellow bottle and give it a shake.", + "Utilize the left arm to hold the smooth bottle with rounded edges and shake it.", + "Using the left arm, shake the medium rectangular yellow bottle and then place it back.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Use the left arm to grab the plastic bottle and shake properly.", + "With the left arm, pick the smooth bottle with rounded edges and shake properly.", + "Lift up the bottle with green label using the left arm, then shake.", + "Grasp the yellow bottle with the left arm and shake it.", + "Hold the smooth bottle with rounded edges with the left arm and shake lightly.", + "Lift the rectangular bottle with cylindrical neck with the left arm and give it a shake.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the bottle with green label and move it to shake.", + "Pick up the smooth bottle with rounded edges and shake it.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Grab and shake the bottle with white cap using the left arm.", + "Take the bottle with green label using the left arm and give it a shake.", + "Hold and shake the the bottle with a smooth plastic body carefully.", + "Hold the yellow bottle with a green design and shake it properly.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Secure the bottle with a smooth plastic body and perform a shake.", + "Grab the yellow bottle with the left arm and shake." + ], + "unseen": [ + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode14.json b/shake_bottle/ur5_randomized_500/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..25f5652ece9a06a6f2645428b3f6477b78a6f2d2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow container with rounded edges with the right arm and shake.", + "Grab the bottle with green label using the right arm, then shake.", + "Shake the the yellow plastic bottle with white top properly after lifting.", + "Shake the yellow container with rounded edges using the right arm after grabbing.", + "Pick the bottle with green and white labels up using the right arm and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Shake the bottle with white cap after grabbing it.", + "Use the right arm to pick and shake the yellow bottle.", + "Lift the yellow bottle with a green design with the right arm and give it a shake.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Hold the bottle with green label and shake it properly.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Hold the yellow bottle steady, then shake it.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Take the bottle with green label using the right arm and give it a shake.", + "Use the right arm to hold the bottle with a smooth plastic body and shake it.", + "Pick the medium rectangular yellow bottle up with the right arm and shake.", + "Pick the medium rectangular yellow bottle, shake it with the right arm.", + "Lift up the yellow container with rounded edges using the right arm, then shake.", + "Use the right arm to grab the yellow bottle with a green design and shake it.", + "Lift the medium rectangular yellow bottle with the right arm and shake it.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Using the right arm, shake the yellow bottle with a green design and then place it back.", + "Grip the bottle with a smooth plastic body using the right arm and shake.", + "Use the right arm to lift and shake the bottle with green label.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Shake the plastic bottle after grabbing it.", + "Hold the bottle with a smooth plastic body with the right arm and shake lightly.", + "With the right arm, pick the bottle with green and white labels and shake properly.", + "Shake the bottle with white cap after grabbing it.", + "Pick up the rectangular bottle with cylindrical neck and shake it well.", + "Grab the bottle with green and white labels carefully and shake.", + "Shake the bottle with green and white labels after holding it firmly.", + "Grab the yellow plastic bottle with white top and give it a shake.", + "Grasp the smooth bottle with rounded edges with the right arm and shake it.", + "Grab the yellow plastic bottle with white top and move it to shake.", + "Shake the yellow bottle after lifting it.", + "Utilize the right arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Grab the bottle with green and white labels and shake it steadily.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Grab and shake the yellow bottle with a green design using the right arm.", + "Secure the smooth bottle with rounded edges, shake it, and place it down.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Hold the bottle with white cap, shake it briefly.", + "Pick up the yellow bottle and shake it.", + "Lift the yellow container with rounded edges with the right arm and shake.", + "Grab the yellow container with rounded edges with the right arm and shake.", + "Grab the medium rectangular yellow bottle using the right arm, then shake.", + "Shake the the bottle with green label properly after lifting.", + "Shake the yellow bottle with a green design using the right arm after grabbing.", + "Pick the yellow bottle with a green design up using the right arm and shake it.", + "Catch the yellow bottle and shake it instantly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Use the right arm to pick and shake the bottle with a smooth plastic body.", + "Lift the yellow container with rounded edges with the right arm and give it a shake.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Hold the bottle with green and white labels and shake it properly.", + "Shake the bottle with a smooth plastic body thoroughly after grabbing it.", + "Hold the yellow bottle steady, then shake it.", + "Lift the yellow bottle with a green design and shake it gently.", + "Secure the yellow bottle and perform a shake.", + "Hold and shake the the plastic bottle carefully.", + "Take the yellow plastic bottle with white top using the right arm and give it a shake.", + "Use the right arm to hold the medium rectangular yellow bottle and shake it.", + "Pick the bottle with a smooth plastic body up with the right arm and shake.", + "Pick the bottle with green label, shake it with the right arm.", + "Lift up the bottle with a smooth plastic body using the right arm, then shake.", + "Use the right arm to grab the yellow plastic bottle with white top and shake it.", + "Lift the bottle with a smooth plastic body with the right arm and shake it.", + "Pick the bottle with green and white labels and perform shaking motion.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Grip the yellow plastic bottle with white top using the right arm and shake.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Use the right arm to lift and shake the yellow bottle.", + "Shake the yellow bottle after grabbing it.", + "Hold the bottle with green label with the right arm and shake lightly.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Shake the yellow bottle with a green design after grabbing it.", + "Pick up the bottle with green and white labels and shake it well.", + "Grab the yellow container with rounded edges carefully and shake.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Grasp the yellow bottle with a green design with the right arm and shake it.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Shake the yellow bottle with a green design after lifting it.", + "Utilize the right arm to hold the yellow bottle and shake it.", + "Grab the yellow plastic bottle with white top and shake it steadily.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Grab and shake the smooth bottle with rounded edges using the right arm.", + "Secure the bottle with a smooth plastic body, shake it, and place it down.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Lift the bottle with white cap with the right arm and shake." + ], + "unseen": [ + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the yellow rectangular bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode140.json b/shake_bottle/ur5_randomized_500/instructions/episode140.json new file mode 100644 index 0000000000000000000000000000000000000000..2e65abfa6e5aa0e19d684c1bca7bf6dfe9bcba61 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode140.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the brown bottle and shake it properly.", + "Shake the hand-sized bottle with grooves after holding it firmly.", + "Grab the green-capped bottle using the left arm, then shake.", + "Grab the green-capped bottle with the left arm and shake.", + "Secure the brown bottle, shake it, and place it down.", + "Hold the bottle with green cap steady, then shake it.", + "Use the left arm to grab the brown bottle with white printed label and shake it.", + "Pick up the brown bottle and shake it well.", + "Hold the brown bottle with white printed label, shake it briefly.", + "Pick the small drink bottle with logo up using the left arm and shake it.", + "Lift the smooth plastic bottle for beverages with the left arm and give it a shake.", + "Use the left arm to pick and shake the small drink bottle with logo.", + "Use the left arm to hold the brown bottle with white printed label and shake it.", + "Grab and shake the hand-sized bottle with grooves using the left arm.", + "Grab the small brown plastic bottle carefully and shake.", + "Lift the small brown plastic bottle with the left arm and shake it.", + "Grasp the brown bottle with the left arm and shake it.", + "Shake the small brown plastic bottle after grabbing it.", + "Grab the smooth plastic bottle for beverages and shake it steadily.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Shake the plastic bottle with ribbed pattern using the left arm after grabbing.", + "Lift the cylindrical bottle with white label and shake it gently.", + "Shake the brown bottle with white printed label thoroughly after grabbing it.", + "Grab the bottle with green cap and give it a shake.", + "Use the left arm to grab the brown bottle with green screw-on cap and shake properly.", + "Hold the smooth plastic bottle for beverages with the left arm and shake lightly.", + "Lift up the brown bottle with green screw-on cap using the left arm, then shake.", + "Shake the brown bottle with white printed label after lifting it.", + "Using the left arm, shake the small brown plastic bottle and then place it back.", + "Shake the the brown bottle properly after lifting.", + "Pick the green-capped bottle, shake it with the left arm.", + "Shake the bottle with green cap after grabbing it.", + "Catch the green-capped bottle and shake it instantly.", + "Grab the smooth plastic bottle for beverages and move it to shake.", + "Pick the brown bottle and perform shaking motion.", + "With the left arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Grab the bottle with green cap firmly, shake it, and put it down.", + "Pick up the cylindrical bottle with white label and shake it.", + "Use the left arm to lift and shake the small drink bottle with logo.", + "Utilize the left arm to hold the brown bottle with green screw-on cap and shake it.", + "Pick the hand-sized bottle with grooves up with the left arm and shake.", + "Use the left arm to lift and shake the cylindrical bottle with white label.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Lift the cylindrical bottle with white label and shake it thoroughly.", + "Shake the plastic bottle with ribbed pattern firmly after grabbing.", + "Lift the small drink bottle with logo with the left arm and shake.", + "Secure the green-capped bottle and perform a shake.", + "Grip the small drink bottle with logo using the left arm and shake.", + "Hold and shake the the bottle with green cap carefully.", + "Take the bottle with green cap using the left arm and give it a shake.", + "Hold the cylindrical bottle with white label and shake it properly.", + "Shake the hand-sized bottle with grooves after holding it firmly.", + "Grab the green-capped bottle using the left arm, then shake.", + "Grab the plastic bottle with ribbed pattern with the left arm and shake.", + "Secure the brown bottle, shake it, and place it down.", + "Hold the hand-sized bottle with grooves steady, then shake it.", + "Use the left arm to grab the smooth plastic bottle for beverages and shake it.", + "Pick up the bottle with tapered cylindrical shape and shake it well.", + "Hold the bottle with green cap, shake it briefly.", + "Pick the small drink bottle with logo up using the left arm and shake it.", + "Lift the brown bottle with green screw-on cap with the left arm and give it a shake.", + "Use the left arm to pick and shake the brown bottle.", + "Use the left arm to hold the brown bottle with white printed label and shake it.", + "Grab and shake the brown bottle using the left arm.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Lift the bottle with green cap with the left arm and shake it.", + "Grasp the plastic bottle with ribbed pattern with the left arm and shake it.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Grab the small brown plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Shake the small drink bottle with logo using the left arm after grabbing.", + "Lift the brown bottle with green screw-on cap and shake it gently.", + "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.", + "Grab the hand-sized bottle with grooves and give it a shake.", + "Use the left arm to grab the brown bottle with green screw-on cap and shake properly.", + "Hold the green-capped bottle with the left arm and shake lightly.", + "Lift up the hand-sized bottle with grooves using the left arm, then shake.", + "Shake the brown bottle after lifting it.", + "Using the left arm, shake the smooth plastic bottle for beverages and then place it back.", + "Shake the the small drink bottle with logo properly after lifting.", + "Pick the smooth plastic bottle for beverages, shake it with the left arm.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Catch the green-capped bottle and shake it instantly.", + "Grab the green-capped bottle and move it to shake.", + "Pick the small drink bottle with logo and perform shaking motion.", + "With the left arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Grab the hand-sized bottle with grooves firmly, shake it, and put it down.", + "Pick up the small drink bottle with logo and shake it.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Utilize the left arm to hold the smooth plastic bottle for beverages and shake it.", + "Pick the plastic bottle with ribbed pattern up with the left arm and shake.", + "Use the left arm to lift and shake the green-capped bottle.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Lift the smooth plastic bottle for beverages and shake it thoroughly.", + "Shake the smooth plastic bottle for beverages firmly after grabbing.", + "Lift the smooth plastic bottle for beverages with the left arm and shake.", + "Secure the small drink bottle with logo and perform a shake.", + "Grip the hand-sized bottle with grooves using the left arm and shake.", + "Hold and shake the the bottle with tapered cylindrical shape carefully.", + "Take the brown bottle with white printed label using the left arm and give it a shake." + ], + "unseen": [ + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode141.json b/shake_bottle/ur5_randomized_500/instructions/episode141.json new file mode 100644 index 0000000000000000000000000000000000000000..d1172ec7728a4fc805f6f544adcd03dd880d315a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode141.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the bottle with tapering neck with the left arm and shake it.", + "Grab the white bottle with orange lid firmly, shake it, and put it down.", + "Shake the cylindrical bottle with red writing using the left arm after grabbing.", + "Hold and shake the the white bottle with red text carefully.", + "Using the left arm, shake the bottle with tapering neck and then place it back.", + "Use the left arm to hold the white cylindrical bottle and shake it.", + "Secure the handheld white bottle with cap and perform a shake.", + "Shake the medium-sized bottle after grabbing it.", + "Grab the white cylindrical bottle and give it a shake.", + "Take the smooth bottle using the left arm and give it a shake.", + "Lift the bottle with orange screw cap with the left arm and give it a shake.", + "Pick the white bottle with orange lid up with the left arm and shake.", + "Grab the white bottle and shake it steadily.", + "Grab and shake the white bottle for liquids using the left arm.", + "Shake the white bottle firmly after grabbing.", + "Lift the plastic bottle and shake it gently.", + "Lift the white bottle with orange lid with the left arm and shake.", + "Hold the cylindrical bottle with red writing, shake it briefly.", + "Grab the white bottle for liquids and move it to shake.", + "Grab the medium-sized bottle carefully and shake.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Hold the white bottle for liquids and shake it properly.", + "Pick up the medium-sized bottle and shake it.", + "Pick the bottle with tapering neck and perform shaking motion.", + "Use the left arm to pick and shake the handheld white bottle with cap.", + "Use the left arm to lift and shake the smooth bottle.", + "Shake the the white bottle for liquids properly after lifting.", + "Shake the handheld white bottle with cap after lifting it.", + "Shake the handheld white bottle with cap after holding it firmly.", + "Use the left arm to grab the cylindrical bottle with red writing and shake it.", + "Shake the white bottle after grabbing it.", + "Hold the handheld white bottle with cap with the left arm and shake lightly.", + "Shake the smooth bottle thoroughly after grabbing it.", + "Grip the handheld white bottle with cap using the left arm and shake.", + "Shake the white cylindrical bottle after grabbing it.", + "Pick the white bottle with red text, shake it with the left arm.", + "Grab the white bottle using the left arm, then shake.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "Grab the white bottle with the left arm and shake.", + "Catch the bottle with orange screw cap and shake it instantly.", + "With the left arm, pick the handheld white bottle with cap and shake properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the white cylindrical bottle steady, then shake it.", + "Use the left arm to grab the cylindrical bottle with red writing and shake properly.", + "Lift the white bottle for liquids with the left arm and shake it.", + "Use the left arm to lift and shake the white bottle for liquids.", + "Pick the medium-sized bottle up using the left arm and shake it.", + "Secure the smooth bottle, shake it, and place it down.", + "Pick up the cylindrical bottle with red writing and shake it well.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grab the bottle with tapering neck firmly, shake it, and put it down.", + "Shake the white bottle for liquids using the left arm after grabbing.", + "Hold and shake the the white cylindrical bottle carefully.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Use the left arm to hold the handheld white bottle with cap and shake it.", + "Secure the white bottle with red text and perform a shake.", + "Shake the white bottle after grabbing it.", + "Grab the bottle with tapering neck and give it a shake.", + "Take the white bottle using the left arm and give it a shake.", + "Lift the handheld white bottle with cap with the left arm and give it a shake.", + "Pick the bottle with tapering neck up with the left arm and shake.", + "Grab the smooth bottle and shake it steadily.", + "Grab and shake the smooth bottle using the left arm.", + "Shake the bottle with tapering neck firmly after grabbing.", + "Lift the cylindrical bottle with red writing and shake it gently.", + "Lift the bottle with orange screw cap with the left arm and shake.", + "Hold the white cylindrical bottle, shake it briefly.", + "Grab the smooth bottle and move it to shake.", + "Grab the medium-sized bottle carefully and shake.", + "Lift up the white bottle for liquids using the left arm, then shake.", + "Hold the cylindrical bottle with red writing and shake it properly.", + "Pick up the white bottle for liquids and shake it.", + "Pick the bottle with orange screw cap and perform shaking motion.", + "Use the left arm to pick and shake the bottle with orange screw cap.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "Shake the the bottle with orange screw cap properly after lifting.", + "Shake the handheld white bottle with cap after lifting it.", + "Shake the handheld white bottle with cap after holding it firmly.", + "Use the left arm to grab the smooth bottle and shake it.", + "Shake the white cylindrical bottle after grabbing it.", + "Hold the white bottle for liquids with the left arm and shake lightly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grip the cylindrical bottle with red writing using the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Pick the cylindrical bottle with red writing, shake it with the left arm.", + "Grab the smooth bottle using the left arm, then shake.", + "Lift the white bottle with red text and shake it thoroughly.", + "Utilize the left arm to hold the white bottle and shake it.", + "Grab the bottle with orange screw cap with the left arm and shake.", + "Catch the medium-sized bottle and shake it instantly.", + "With the left arm, pick the cylindrical bottle with red writing and shake properly.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "Hold the bottle with tapering neck steady, then shake it.", + "Use the left arm to grab the white bottle with orange lid and shake properly.", + "Lift the smooth bottle with the left arm and shake it.", + "Use the left arm to lift and shake the cylindrical bottle with red writing.", + "Pick the cylindrical bottle with red writing up using the left arm and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick up the white bottle with red text and shake it well." + ], + "unseen": [ + "Grab the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode142.json b/shake_bottle/ur5_randomized_500/instructions/episode142.json new file mode 100644 index 0000000000000000000000000000000000000000..d506d3db2176400ffc1440dfce86807cba644e4d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode142.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium bottle with colorful label with the left arm and shake it.", + "Lift the round-bottom bottle with white cap with the left arm and shake.", + "Pick up the grooved orange drink bottle and shake it well.", + "Shake the grooved orange drink bottle after grabbing it.", + "Use the left arm to pick and shake the cylindrical orange plastic bottle.", + "Hold the bottle for holding drinks steady, then shake it.", + "Hold the grooved orange drink bottle with the left arm and shake lightly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Using the left arm, shake the grooved orange drink bottle and then place it back.", + "Shake the orange drink bottle with label after lifting it.", + "Shake the grooved orange drink bottle after holding it firmly.", + "Lift the plastic bottle and shake it gently.", + "Grab the plastic bottle and give it a shake.", + "Grip the cylindrical orange plastic bottle using the left arm and shake.", + "Grasp the orange drink bottle with label with the left arm and shake it.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Shake the the light and medium-sized bottle properly after lifting.", + "Utilize the left arm to hold the bottle for holding drinks and shake it.", + "Shake the smooth orange bottle thoroughly after grabbing it.", + "Grab the orange bottle and shake it steadily.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Hold and shake the the round-bottom bottle with white cap carefully.", + "Shake the smooth orange bottle firmly after grabbing.", + "Shake the plastic bottle using the left arm after grabbing.", + "Lift the orange bottle with the left arm and give it a shake.", + "Hold the medium bottle with colorful label, shake it briefly.", + "Lift up the orange drink bottle with label using the left arm, then shake.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Grab the grooved orange drink bottle using the left arm, then shake.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Take the ridged orange bottle with grooves using the left arm and give it a shake.", + "Hold the orange drink bottle with label and shake it properly.", + "Use the left arm to lift and shake the grooved orange drink bottle.", + "Secure the round-bottom bottle with white cap and perform a shake.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Lift the smooth orange bottle and shake it thoroughly.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Use the left arm to hold the orange bottle and shake it.", + "Shake the curved orange soda bottle after grabbing it.", + "Pick up the light and medium-sized bottle and shake it.", + "Pick the grooved orange drink bottle up using the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the orange bottle with the left arm and shake.", + "Pick the bottle for holding drinks up with the left arm and shake.", + "Grab and shake the ridged orange bottle with grooves using the left arm.", + "Use the left arm to grab the orange drink bottle with label and shake it.", + "Pick the bottle for holding drinks, shake it with the left arm.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Lift the curved orange soda bottle with the left arm and shake it.", + "Lift the grooved orange drink bottle with the left arm and shake.", + "Pick up the smooth orange bottle and shake it well.", + "Shake the smooth orange bottle after grabbing it.", + "Use the left arm to pick and shake the cylindrical orange plastic bottle.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Hold the cylindrical orange plastic bottle with the left arm and shake lightly.", + "With the left arm, pick the curved orange soda bottle and shake properly.", + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Using the left arm, shake the light and medium-sized bottle and then place it back.", + "Shake the ridged orange bottle with grooves after lifting it.", + "Shake the plastic bottle after holding it firmly.", + "Lift the light and medium-sized bottle and shake it gently.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Grip the medium bottle with colorful label using the left arm and shake.", + "Grasp the medium bottle with colorful label with the left arm and shake it.", + "Secure the orange bottle, shake it, and place it down.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Utilize the left arm to hold the ridged orange bottle with grooves and shake it.", + "Shake the light and medium-sized bottle thoroughly after grabbing it.", + "Grab the plastic bottle and shake it steadily.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Hold and shake the the plastic bottle carefully.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Shake the bottle for holding drinks using the left arm after grabbing.", + "Lift the cylindrical orange plastic bottle with the left arm and give it a shake.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Lift up the orange drink bottle with label using the left arm, then shake.", + "Use the left arm to lift and shake the orange bottle.", + "Grab the curved orange soda bottle using the left arm, then shake.", + "Grab the ridged orange bottle with grooves and move it to shake.", + "Take the orange bottle using the left arm and give it a shake.", + "Hold the orange drink bottle with label and shake it properly.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Secure the orange bottle and perform a shake.", + "Use the left arm to lift and shake the orange bottle.", + "Lift the orange drink bottle with label and shake it thoroughly.", + "Use the left arm to grab the smooth orange bottle and shake properly.", + "Catch the plastic bottle and shake it instantly.", + "Use the left arm to hold the round-bottom bottle with white cap and shake it.", + "Shake the curved orange soda bottle after grabbing it.", + "Pick up the plastic bottle and shake it.", + "Pick the orange bottle up using the left arm and shake it.", + "Shake the grooved orange drink bottle after grabbing it.", + "Grab the medium bottle with colorful label with the left arm and shake.", + "Pick the orange bottle up with the left arm and shake.", + "Grab and shake the orange drink bottle with label using the left arm.", + "Use the left arm to grab the plastic bottle and shake it.", + "Pick the light and medium-sized bottle, shake it with the left arm.", + "Pick the round-bottom bottle with white cap and perform shaking motion." + ], + "unseen": [ + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode143.json b/shake_bottle/ur5_randomized_500/instructions/episode143.json new file mode 100644 index 0000000000000000000000000000000000000000..eabd718e14f8b00e7b38ede6b3fef77ad1cf71d8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode143.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Use the left arm to grab the yellow-capped cylindrical bottle and shake properly.", + "Grasp the smooth black bottle with ridges with the left arm and shake it.", + "Shake the smooth black bottle with ridges after lifting it.", + "Catch the bottle with blue and yellow print and shake it instantly.", + "Grab the black bottle using the left arm, then shake.", + "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.", + "Using the left arm, shake the beverage bottle with black body and then place it back.", + "Grab the black plastic bottle with Pepsi logo and shake it steadily.", + "Lift the black bottle and shake it thoroughly.", + "Use the left arm to pick and shake the black plastic bottle with Pepsi logo.", + "Use the left arm to grab the yellow capped drink bottle and shake it.", + "Lift the medium bottle with yellow cap with the left arm and shake.", + "Grab the medium bottle with yellow cap with the left arm and shake.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Grab and shake the plastic bottle with colorful label using the left arm.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Lift up the yellow-capped cylindrical bottle using the left arm, then shake.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Pick up the black plastic bottle with Pepsi logo and shake it well.", + "Use the left arm to hold the medium black bottle with printed label and shake it.", + "With the left arm, pick the black plastic bottle with Pepsi logo and shake properly.", + "Lift the beverage bottle with black body and shake it gently.", + "Lift the medium bottle with yellow cap with the left arm and shake it.", + "Pick the yellow-capped cylindrical bottle, shake it with the left arm.", + "Grab the medium black bottle with printed label carefully and shake.", + "Pick up the yellow capped drink bottle and shake it.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Shake the the medium bottle with yellow cap properly after lifting.", + "Pick the drink bottle with rounded yellow lid up using the left arm and shake it.", + "Hold the smooth black bottle with ridges, shake it briefly.", + "Secure the beverage bottle with black body, shake it, and place it down.", + "Pick the smooth black bottle with ridges and perform shaking motion.", + "Shake the medium black bottle with printed label firmly after grabbing.", + "Grip the black plastic bottle with Pepsi logo using the left arm and shake.", + "Shake the yellow-capped cylindrical bottle using the left arm after grabbing.", + "Hold the medium black bottle with printed label and shake it properly.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Take the plastic bottle with colorful label using the left arm and give it a shake.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Shake the yellow capped drink bottle after holding it firmly.", + "Hold the black plastic bottle with Pepsi logo with the left arm and shake lightly.", + "Grab the black bottle and move it to shake.", + "Lift the plastic bottle with colorful label with the left arm and give it a shake.", + "Use the left arm to lift and shake the black cylindrical bottle with ridges.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Pick the plastic bottle with colorful label up with the left arm and shake.", + "Secure the smooth black bottle with ridges and perform a shake.", + "Hold and shake the the medium bottle with yellow cap carefully.", + "Utilize the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "Hold the black cylindrical bottle with ridges steady, then shake it.", + "Use the left arm to grab the medium black bottle with printed label and shake properly.", + "Grasp the bottle with blue and yellow print with the left arm and shake it.", + "Shake the drink bottle with rounded yellow lid after lifting it.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Grab the smooth black bottle with ridges using the left arm, then shake.", + "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.", + "Using the left arm, shake the medium bottle with yellow cap and then place it back.", + "Grab the black bottle and shake it steadily.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Use the left arm to pick and shake the medium black bottle with printed label.", + "Use the left arm to grab the medium black bottle with printed label and shake it.", + "Lift the medium black bottle with printed label with the left arm and shake.", + "Grab the black cylindrical bottle with ridges with the left arm and shake.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Grab and shake the medium bottle with yellow cap using the left arm.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Lift up the bottle with blue and yellow print using the left arm, then shake.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Pick up the medium bottle with yellow cap and shake it well.", + "Use the left arm to hold the black cylindrical bottle with ridges and shake it.", + "With the left arm, pick the black plastic bottle with Pepsi logo and shake properly.", + "Lift the plastic bottle with colorful label and shake it gently.", + "Lift the medium bottle with yellow cap with the left arm and shake it.", + "Pick the black plastic bottle with Pepsi logo, shake it with the left arm.", + "Grab the medium bottle with yellow cap carefully and shake.", + "Pick up the plastic bottle with colorful label and shake it.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Pick the yellow capped drink bottle up using the left arm and shake it.", + "Hold the black cylindrical bottle with ridges, shake it briefly.", + "Secure the beverage bottle with black body, shake it, and place it down.", + "Pick the black cylindrical bottle with ridges and perform shaking motion.", + "Shake the medium black bottle with printed label firmly after grabbing.", + "Grip the medium bottle with yellow cap using the left arm and shake.", + "Shake the medium black bottle with printed label using the left arm after grabbing.", + "Hold the black cylindrical bottle with ridges and shake it properly.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Take the smooth black bottle with ridges using the left arm and give it a shake.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Hold the black bottle with the left arm and shake lightly.", + "Grab the black bottle and move it to shake.", + "Lift the medium black bottle with printed label with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Grab the plastic bottle with colorful label firmly, shake it, and put it down.", + "Pick the drink bottle with rounded yellow lid up with the left arm and shake.", + "Secure the smooth black bottle with ridges and perform a shake.", + "Hold and shake the the yellow-capped cylindrical bottle carefully.", + "Utilize the left arm to hold the drink bottle with rounded yellow lid and shake it." + ], + "unseen": [ + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode144.json b/shake_bottle/ur5_randomized_500/instructions/episode144.json new file mode 100644 index 0000000000000000000000000000000000000000..316b8a0eccabc8a45df27f38934d335aadf8bbf8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode144.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with flat sides and logo using the right arm after grabbing.", + "Grab the medium-sized brown plastic bottle carefully and shake.", + "Grip the rectangular-shaped bottle with round cap using the right arm and shake.", + "Lift the rectangular-shaped bottle with round cap with the right arm and shake it.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Pick up the rectangular brown body with white top and shake it well.", + "Lift the rectangular-shaped bottle with round cap with the right arm and give it a shake.", + "Catch the brown bottle with rounded rectangular shape and shake it instantly.", + "Pick the medium bottle with glossy surface up using the right arm and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Lift up the medium bottle with glossy surface using the right arm, then shake.", + "Secure the dark brown bottle with a squared body, shake it, and place it down.", + "Shake the plastic bottle firmly after grabbing.", + "Hold the smooth plastic bottle with white cap with the right arm and shake lightly.", + "Use the right arm to pick and shake the brown bottle.", + "Grab the brown bottle and shake it steadily.", + "Utilize the right arm to hold the medium-sized brown plastic bottle and shake it.", + "Pick up the plastic bottle and shake it.", + "Secure the medium-sized brown plastic bottle and perform a shake.", + "Lift the brown bottle and shake it gently.", + "Using the right arm, shake the medium-sized brown plastic bottle and then place it back.", + "Use the right arm to lift and shake the smooth brown bottle with green label.", + "Grab the medium bottle with glossy surface using the right arm, then shake.", + "Lift the brown bottle and shake it thoroughly.", + "Shake the the brown bottle properly after lifting.", + "Hold the rectangular brown body with white top, shake it briefly.", + "Grasp the smooth brown bottle with green label with the right arm and shake it.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Use the right arm to grab the smooth plastic bottle with white cap and shake it.", + "Pick the smooth plastic bottle with white cap, shake it with the right arm.", + "Hold the dark brown bottle with a squared body and shake it properly.", + "Shake the medium bottle with glossy surface after lifting it.", + "Shake the smooth plastic bottle with white cap thoroughly after grabbing it.", + "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.", + "With the right arm, pick the bottle with flat sides and logo and shake properly.", + "Grab the dark brown bottle with a squared body and move it to shake.", + "Lift the smooth brown bottle with green label with the right arm and shake.", + "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.", + "Pick the rectangular brown body with white top and perform shaking motion.", + "Take the dark brown bottle with a squared body using the right arm and give it a shake.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Shake the brown bottle with rounded rectangular shape after holding it firmly.", + "Grab and shake the brown bottle with rounded rectangular shape using the right arm.", + "Use the right arm to grab the brown bottle and shake properly.", + "Hold and shake the the bottle with green cap carefully.", + "Grab the brown bottle and give it a shake.", + "Grab the dark brown bottle with a squared body with the right arm and shake.", + "Use the right arm to hold the brown bottle and shake it.", + "Pick the smooth brown bottle with green label up with the right arm and shake.", + "Shake the smooth brown bottle with green label using the right arm after grabbing.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Grip the bottle with flat sides and logo using the right arm and shake.", + "Lift the rectangular brown body with white top with the right arm and shake it.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Pick up the dark brown bottle with a squared body and shake it well.", + "Lift the rectangular-shaped bottle with round cap with the right arm and give it a shake.", + "Catch the medium bottle with glossy surface and shake it instantly.", + "Pick the medium bottle with glossy surface up using the right arm and shake it.", + "Hold the dark brown bottle with a squared body steady, then shake it.", + "Lift up the medium-sized brown plastic bottle using the right arm, then shake.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Shake the bottle with flat sides and logo firmly after grabbing.", + "Hold the smooth brown bottle with green label with the right arm and shake lightly.", + "Use the right arm to pick and shake the bottle with flat sides and logo.", + "Grab the brown bottle and shake it steadily.", + "Utilize the right arm to hold the smooth brown bottle with green label and shake it.", + "Pick up the medium bottle with glossy surface and shake it.", + "Secure the brown bottle and perform a shake.", + "Lift the dark brown bottle with a squared body and shake it gently.", + "Using the right arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Grab the bottle with flat sides and logo using the right arm, then shake.", + "Lift the medium-sized brown plastic bottle and shake it thoroughly.", + "Shake the the rectangular-shaped bottle with round cap properly after lifting.", + "Hold the rectangular-shaped bottle with round cap, shake it briefly.", + "Grasp the rectangular brown body with white top with the right arm and shake it.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.", + "Use the right arm to grab the rectangular brown body with white top and shake it.", + "Pick the brown bottle, shake it with the right arm.", + "Hold the medium bottle with glossy surface and shake it properly.", + "Shake the medium bottle with glossy surface after lifting it.", + "Shake the brown bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth brown bottle with green label.", + "With the right arm, pick the medium-sized brown plastic bottle and shake properly.", + "Grab the dark brown bottle with a squared body and move it to shake.", + "Lift the medium-sized brown plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the smooth plastic bottle with white cap.", + "Pick the bottle with flat sides and logo and perform shaking motion.", + "Take the rectangular brown body with white top using the right arm and give it a shake.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Shake the medium-sized brown plastic bottle after holding it firmly.", + "Grab and shake the medium bottle with glossy surface using the right arm.", + "Use the right arm to grab the smooth brown bottle with green label and shake properly.", + "Hold and shake the the medium-sized brown plastic bottle carefully.", + "Grab the bottle with flat sides and logo and give it a shake.", + "Grab the medium-sized brown plastic bottle with the right arm and shake.", + "Use the right arm to hold the medium bottle with glossy surface and shake it.", + "Pick the dark brown bottle with a squared body up with the right arm and shake." + ], + "unseen": [ + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode145.json b/shake_bottle/ur5_randomized_500/instructions/episode145.json new file mode 100644 index 0000000000000000000000000000000000000000..3aadd85c9ede6bc5fac0acb0785dec5bdbd18b19 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode145.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the orange bottle after grabbing it.", + "Shake the orange bottle after lifting it.", + "Use the right arm to grab the smooth orange cylindrical bottle and shake properly.", + "Catch the rounded bottom orange plastic bottle and shake it instantly.", + "Pick the smooth orange cylindrical bottle up with the right arm and shake.", + "Use the right arm to grab the handheld medium-sized liquid bottle and shake it.", + "Lift the orange bottle with bold labeling with the right arm and shake it.", + "Grasp the rounded orange bottle with yellow top with the right arm and shake it.", + "Grab the yellow-capped bottle for beverages and shake it steadily.", + "Pick the orange bottle with bold labeling up using the right arm and shake it.", + "Secure the handheld medium-sized liquid bottle, shake it, and place it down.", + "Hold the orange bottle with bold labeling steady, then shake it.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Hold the yellow-capped bottle for beverages and shake it properly.", + "Use the right arm to pick and shake the orange bottle.", + "Grab the rounded orange bottle with yellow top carefully and shake.", + "Utilize the right arm to hold the orange bottle with bold labeling and shake it.", + "Grip the yellow-capped bottle for beverages using the right arm and shake.", + "Shake the yellow-capped bottle for beverages after grabbing it.", + "Lift the rounded bottom orange plastic bottle with the right arm and shake.", + "Lift up the rounded bottom orange plastic bottle using the right arm, then shake.", + "Shake the orange bottle with bold labeling using the right arm after grabbing.", + "Use the right arm to lift and shake the orange bottle.", + "Shake the orange bottle with bold labeling after holding it firmly.", + "Use the right arm to lift and shake the yellow-capped bottle for beverages.", + "Hold the bottle with yellow cap, shake it briefly.", + "Grab the yellow-capped orange plastic bottle with the right arm and shake.", + "Grab the rounded bottom orange plastic bottle using the right arm, then shake.", + "Grab the handheld medium-sized liquid bottle and move it to shake.", + "Grab the yellow-capped bottle for beverages and give it a shake.", + "Take the rounded orange bottle with yellow top using the right arm and give it a shake.", + "Using the right arm, shake the small bottle with bright yellow lid and then place it back.", + "With the right arm, pick the small bottle with bright yellow lid and shake properly.", + "Pick the cylindrical orange bottle with smooth surface, shake it with the right arm.", + "Pick up the yellow-capped orange plastic bottle and shake it well.", + "Shake the the small bottle with bright yellow lid properly after lifting.", + "Secure the bottle with yellow cap and perform a shake.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Hold the yellow-capped orange plastic bottle with the right arm and shake lightly.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Hold and shake the the orange bottle with bold labeling carefully.", + "Lift the handheld medium-sized liquid bottle and shake it thoroughly.", + "Use the right arm to lift and shake the rounded orange bottle with yellow top.", + "Use the right arm to hold the yellow-capped orange plastic bottle and shake it.", + "Pick up the bottle with yellow cap and shake it.", + "Lift the liquid container with orange body and shake it gently.", + "Lift the yellow-capped bottle for beverages with the right arm and give it a shake.", + "Shake the handheld medium-sized liquid bottle thoroughly after grabbing it.", + "Grab and shake the yellow-capped orange plastic bottle using the right arm.", + "Pick the orange bottle with bold labeling and perform shaking motion.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Shake the rounded orange bottle with yellow top after lifting it.", + "Use the right arm to grab the yellow-capped bottle for beverages and shake properly.", + "Catch the yellow-capped orange plastic bottle and shake it instantly.", + "Pick the yellow-capped bottle for beverages up with the right arm and shake.", + "Use the right arm to grab the rounded bottom orange plastic bottle and shake it.", + "Lift the smooth orange cylindrical bottle with the right arm and shake it.", + "Grasp the handheld medium-sized liquid bottle with the right arm and shake it.", + "Grab the yellow-capped orange plastic bottle and shake it steadily.", + "Pick the handheld medium-sized liquid bottle up using the right arm and shake it.", + "Secure the liquid container with orange body, shake it, and place it down.", + "Hold the small bottle with bright yellow lid steady, then shake it.", + "Shake the rounded orange bottle with yellow top after grabbing it.", + "Hold the smooth orange cylindrical bottle and shake it properly.", + "Use the right arm to pick and shake the small bottle with bright yellow lid.", + "Grab the orange bottle with bold labeling carefully and shake.", + "Utilize the right arm to hold the yellow-capped orange plastic bottle and shake it.", + "Grip the orange bottle using the right arm and shake.", + "Shake the yellow-capped bottle for beverages after grabbing it.", + "Lift the handheld medium-sized liquid bottle with the right arm and shake.", + "Lift up the smooth orange cylindrical bottle using the right arm, then shake.", + "Shake the yellow-capped orange plastic bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the handheld medium-sized liquid bottle.", + "Shake the orange bottle after holding it firmly.", + "Use the right arm to lift and shake the small bottle with bright yellow lid.", + "Hold the yellow-capped bottle for beverages, shake it briefly.", + "Grab the yellow-capped bottle for beverages with the right arm and shake.", + "Grab the small bottle with bright yellow lid using the right arm, then shake.", + "Grab the small bottle with bright yellow lid and move it to shake.", + "Grab the liquid container with orange body and give it a shake.", + "Take the orange bottle with bold labeling using the right arm and give it a shake.", + "Using the right arm, shake the smooth orange cylindrical bottle and then place it back.", + "With the right arm, pick the small bottle with bright yellow lid and shake properly.", + "Pick the rounded orange bottle with yellow top, shake it with the right arm.", + "Pick up the liquid container with orange body and shake it well.", + "Shake the the rounded orange bottle with yellow top properly after lifting.", + "Secure the rounded bottom orange plastic bottle and perform a shake.", + "Grab the yellow-capped bottle for beverages firmly, shake it, and put it down.", + "Hold the orange bottle with the right arm and shake lightly.", + "Shake the orange bottle firmly after grabbing.", + "Hold and shake the the orange bottle carefully.", + "Lift the rounded orange bottle with yellow top and shake it thoroughly.", + "Use the right arm to lift and shake the handheld medium-sized liquid bottle.", + "Use the right arm to hold the orange bottle with bold labeling and shake it.", + "Pick up the orange bottle and shake it.", + "Lift the smooth orange cylindrical bottle and shake it gently.", + "Lift the orange bottle with the right arm and give it a shake.", + "Shake the small bottle with bright yellow lid thoroughly after grabbing it.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Pick the cylindrical orange bottle with smooth surface and perform shaking motion." + ], + "unseen": [ + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Use the right arm to pick the medium bottle for liquids.", + "Grab the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the medium bottle for liquids and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Use the right arm to pick the medium bottle for liquids.", + "Grab the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Use the right arm to pick the medium bottle for liquids.", + "Grab the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Use the right arm to pick the medium bottle for liquids.", + "Grab the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Grab the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the medium plastic bottle and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode146.json b/shake_bottle/ur5_randomized_500/instructions/episode146.json new file mode 100644 index 0000000000000000000000000000000000000000..0642fb207f238fd7447178d60f5cacc93f087d9d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode146.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow label bottle and shake it steadily.", + "Shake the orange and white bottle with cap using the right arm after grabbing.", + "Hold the medium orange bottle with the right arm and shake lightly.", + "Hold the yellow label bottle, shake it briefly.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Grab the yellow label bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the bottle with orange cap using the right arm, then shake.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Pick the orange and white bottle with cap, shake it with the right arm.", + "Shake the yellow label bottle firmly after grabbing.", + "Shake the drinking bottle with yellow label after lifting it.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Grab the bottle with ribbed orange bottom and give it a shake.", + "Grip the bottle with ribbed orange bottom using the right arm and shake.", + "Lift the bottle with orange cap and shake it thoroughly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Lift the orange bottle and shake it gently.", + "Pick the orange bottle up using the right arm and shake it.", + "Grasp the yellow label bottle with the right arm and shake it.", + "Use the right arm to lift and shake the orange and white bottle with cap.", + "Pick up the orange and white bottle with cap and shake it well.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Catch the orange bottle and shake it instantly.", + "Pick the cylindrical orange and white bottle up with the right arm and shake.", + "Grab and shake the medium bottle with orange lid using the right arm.", + "Grab the orange bottle with the right arm and shake.", + "Take the medium orange bottle using the right arm and give it a shake.", + "Pick the drinking bottle with yellow label and perform shaking motion.", + "With the right arm, pick the medium bottle with orange lid and shake properly.", + "Hold the medium orange bottle steady, then shake it.", + "Lift up the white and orange plastic bottle using the right arm, then shake.", + "Lift the medium bottle with orange lid with the right arm and shake it.", + "Hold and shake the the medium orange bottle carefully.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the medium orange bottle after holding it firmly.", + "Using the right arm, shake the bottle with ribbed orange bottom and then place it back.", + "Use the right arm to hold the orange and white bottle with cap and shake it.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "Pick up the orange and white bottle with cap and shake it.", + "Grab the drinking bottle with yellow label carefully and shake.", + "Hold the orange bottle and shake it properly.", + "Use the right arm to grab the yellow label bottle and shake properly.", + "Shake the the drinking bottle with yellow label properly after lifting.", + "Lift the orange bottle with the right arm and shake.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Grab the smooth plastic bottle and move it to shake.", + "Use the right arm to pick and shake the medium bottle with orange lid.", + "Grab the cylindrical orange and white bottle and shake it steadily.", + "Shake the white and orange plastic bottle using the right arm after grabbing.", + "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.", + "Hold the bottle with orange cap, shake it briefly.", + "Utilize the right arm to hold the white and orange plastic bottle and shake it.", + "Grab the bottle with orange cap firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium orange bottle.", + "Grab the orange bottle using the right arm, then shake.", + "Secure the yellow label bottle and perform a shake.", + "Use the right arm to grab the orange and white bottle with cap and shake it.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the bottle with ribbed orange bottom firmly after grabbing.", + "Shake the orange and white bottle with cap after lifting it.", + "Use the right arm to lift and shake the drinking bottle with yellow label.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Lift the cylindrical orange and white bottle and shake it thoroughly.", + "Lift the medium bottle with orange lid with the right arm and give it a shake.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Lift the cylindrical orange and white bottle and shake it gently.", + "Pick the orange bottle up using the right arm and shake it.", + "Grasp the medium orange bottle with the right arm and shake it.", + "Use the right arm to lift and shake the orange bottle.", + "Pick up the white and orange plastic bottle and shake it well.", + "Shake the yellow label bottle after grabbing it.", + "Catch the bottle with orange cap and shake it instantly.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Grab and shake the medium orange bottle using the right arm.", + "Grab the bottle with ribbed orange bottom with the right arm and shake.", + "Take the orange and white bottle with cap using the right arm and give it a shake.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "With the right arm, pick the bottle with ribbed orange bottom and shake properly.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Lift up the yellow label bottle using the right arm, then shake.", + "Lift the bottle with orange cap with the right arm and shake it.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Shake the plastic bottle after grabbing it.", + "Shake the smooth plastic bottle after holding it firmly.", + "Using the right arm, shake the orange and white bottle with cap and then place it back.", + "Use the right arm to hold the yellow label bottle and shake it.", + "Secure the orange bottle, shake it, and place it down.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Grab the white and orange plastic bottle carefully and shake.", + "Hold the orange and white bottle with cap and shake it properly.", + "Use the right arm to grab the bottle with orange cap and shake properly.", + "Shake the the smooth plastic bottle properly after lifting.", + "Lift the medium bottle with orange lid with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the white and orange plastic bottle and move it to shake.", + "Use the right arm to pick and shake the drinking bottle with yellow label." + ], + "unseen": [ + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode147.json b/shake_bottle/ur5_randomized_500/instructions/episode147.json new file mode 100644 index 0000000000000000000000000000000000000000..1f10901f1400f48011f1c32dcd13ae9c79f99e78 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode147.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic bottle with white cap with the left arm and give it a shake.", + "Grip the bottle with green cap using the left arm and shake.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down.", + "Grab the rectangular-shaped bottle with round cap using the left arm, then shake.", + "Lift the brown bottle and shake it gently.", + "Hold the rectangular-shaped bottle with round cap with the left arm and shake lightly.", + "Hold the plastic bottle, shake it briefly.", + "Lift the smooth plastic bottle with white cap with the left arm and shake it.", + "Hold the medium-sized brown plastic bottle steady, then shake it.", + "Catch the bottle with flat sides and logo and shake it instantly.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab and shake the rectangular brown body with white top using the left arm.", + "Grab the plastic bottle and move it to shake.", + "Shake the the brown bottle properly after lifting.", + "Lift the smooth brown bottle with green label with the left arm and shake.", + "Shake the smooth plastic bottle with white cap using the left arm after grabbing.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Secure the smooth plastic bottle with white cap, shake it, and place it down.", + "Grab the smooth plastic bottle with white cap with the left arm and shake.", + "Pick up the bottle with flat sides and logo and shake it.", + "Pick the bottle with flat sides and logo, shake it with the left arm.", + "Use the left arm to grab the rectangular brown body with white top and shake properly.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Hold the plastic bottle and shake it properly.", + "Take the medium bottle with glossy surface using the left arm and give it a shake.", + "Pick up the smooth brown bottle with green label and shake it well.", + "Grab the bottle with flat sides and logo and shake it steadily.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Use the left arm to grab the plastic bottle and shake it.", + "Secure the medium-sized brown plastic bottle and perform a shake.", + "Pick the brown bottle and perform shaking motion.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Lift the rectangular brown body with white top and shake it thoroughly.", + "Grab the brown bottle with rounded rectangular shape carefully and shake.", + "With the left arm, pick the dark brown bottle with a squared body and shake properly.", + "Using the left arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Hold and shake the the plastic bottle carefully.", + "Shake the brown bottle with rounded rectangular shape after holding it firmly.", + "Lift up the brown bottle using the left arm, then shake.", + "Grab the rectangular-shaped bottle with round cap and give it a shake.", + "Pick the bottle with green cap up with the left arm and shake.", + "Shake the rectangular brown body with white top after lifting it.", + "Grasp the rectangular-shaped bottle with round cap with the left arm and shake it.", + "Shake the medium bottle with glossy surface firmly after grabbing.", + "Utilize the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Pick the bottle with green cap up using the left arm and shake it.", + "Lift the smooth plastic bottle with white cap with the left arm and give it a shake.", + "Grip the smooth plastic bottle with white cap using the left arm and shake.", + "Grab the brown bottle firmly, shake it, and put it down.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift the brown bottle and shake it gently.", + "Hold the medium bottle with glossy surface with the left arm and shake lightly.", + "Hold the rectangular-shaped bottle with round cap, shake it briefly.", + "Lift the medium bottle with glossy surface with the left arm and shake it.", + "Hold the bottle with flat sides and logo steady, then shake it.", + "Catch the dark brown bottle with a squared body and shake it instantly.", + "Use the left arm to pick and shake the bottle with flat sides and logo.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Grab the bottle with green cap and move it to shake.", + "Shake the the dark brown bottle with a squared body properly after lifting.", + "Lift the medium-sized brown plastic bottle with the left arm and shake.", + "Shake the brown bottle with rounded rectangular shape using the left arm after grabbing.", + "Shake the bottle with green cap after grabbing it.", + "Shake the brown bottle thoroughly after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the rectangular-shaped bottle with round cap with the left arm and shake.", + "Pick up the rectangular-shaped bottle with round cap and shake it.", + "Pick the brown bottle, shake it with the left arm.", + "Use the left arm to grab the medium bottle with glossy surface and shake properly.", + "Shake the bottle with green cap after grabbing it.", + "Use the left arm to hold the rectangular brown body with white top and shake it.", + "Hold the smooth brown bottle with green label and shake it properly.", + "Take the dark brown bottle with a squared body using the left arm and give it a shake.", + "Pick up the smooth brown bottle with green label and shake it well.", + "Grab the smooth plastic bottle with white cap and shake it steadily.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Use the left arm to lift and shake the brown bottle.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake it.", + "Secure the medium bottle with glossy surface and perform a shake.", + "Pick the brown bottle with rounded rectangular shape and perform shaking motion.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Lift the rectangular brown body with white top and shake it thoroughly.", + "Grab the bottle with green cap carefully and shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Using the left arm, shake the dark brown bottle with a squared body and then place it back.", + "Hold and shake the the smooth brown bottle with green label carefully.", + "Shake the brown bottle after holding it firmly.", + "Lift up the medium bottle with glossy surface using the left arm, then shake.", + "Grab the rectangular brown body with white top and give it a shake.", + "Pick the bottle with green cap up with the left arm and shake.", + "Shake the rectangular brown body with white top after lifting it.", + "Grasp the bottle with green cap with the left arm and shake it.", + "Shake the brown bottle with rounded rectangular shape firmly after grabbing.", + "Utilize the left arm to hold the medium bottle with glossy surface and shake it.", + "Pick the rectangular brown body with white top up using the left arm and shake it." + ], + "unseen": [ + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the liquid container dark brown plastic and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode148.json b/shake_bottle/ur5_randomized_500/instructions/episode148.json new file mode 100644 index 0000000000000000000000000000000000000000..9f014fe6cbb1124dd9cd7f3009259b18900f3017 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode148.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the medium-sized orange bottle and shake it.", + "Shake the cylindrical orange bottle with yellow top after holding it firmly.", + "Shake the yellow-capped plastic bottle after lifting it.", + "Grasp the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Lift the yellow-capped plastic bottle with the right arm and shake it.", + "Pick up the bottle with narrow neck and shake it.", + "Grip the medium-sized orange bottle using the right arm and shake.", + "Lift the bottle with narrow neck and shake it thoroughly.", + "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Lift the orange cylindrical bottle with the right arm and give it a shake.", + "Shake the bottle with printed label using the right arm after grabbing.", + "Grab the smooth plastic bottle and move it to shake.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.", + "Hold the orange bottle steady, then shake it.", + "Use the right arm to lift and shake the bottle for liquids.", + "Lift the smooth plastic bottle and shake it gently.", + "Use the right arm to hold the bottle with narrow neck and shake it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Lift the orange cylindrical bottle with the right arm and shake.", + "Grab the bottle with narrow neck and shake it steadily.", + "Lift up the bottle for liquids using the right arm, then shake.", + "With the right arm, pick the plastic bottle with sealed yellow cap and shake properly.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Pick the orange bottle up using the right arm and shake it.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Take the orange cylindrical bottle using the right arm and give it a shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick up the orange bottle and shake it well.", + "Grab the orange cylindrical bottle and give it a shake.", + "Grab the bottle with printed label using the right arm, then shake.", + "Grab the bottle with printed label with the right arm and shake.", + "Secure the bottle with yellow cap and perform a shake.", + "Hold the bottle with printed label and shake it properly.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Pick the bottle with yellow cap, shake it with the right arm.", + "Catch the smooth plastic bottle and shake it instantly.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Shake the bottle with narrow neck firmly after grabbing.", + "Grab the smooth plastic bottle carefully and shake.", + "Shake the bottle with printed label thoroughly after grabbing it.", + "Use the right arm to pick and shake the cylindrical orange bottle with yellow top.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Grab and shake the medium-sized orange bottle using the right arm.", + "Hold the bottle with yellow cap, shake it briefly.", + "Shake the the bottle with narrow neck properly after lifting.", + "Hold and shake the the orange cylindrical bottle carefully.", + "Use the right arm to grab the yellow-capped plastic bottle and shake it.", + "Shake the bottle with printed label after holding it firmly.", + "Shake the bottle with narrow neck after lifting it.", + "Grasp the medium-sized orange bottle with the right arm and shake it.", + "Lift the bottle for liquids with the right arm and shake it.", + "Pick up the bottle with yellow cap and shake it.", + "Grip the plastic bottle with sealed yellow cap using the right arm and shake.", + "Lift the orange bottle and shake it thoroughly.", + "Using the right arm, shake the bottle with yellow cap and then place it back.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the yellow-capped plastic bottle using the right arm after grabbing.", + "Grab the bottle for liquids and move it to shake.", + "Hold the medium-sized orange bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Hold the bottle with yellow cap steady, then shake it.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Lift the plastic bottle and shake it gently.", + "Use the right arm to hold the bottle with narrow neck and shake it.", + "Shake the orange bottle after grabbing it.", + "Lift the medium-sized orange bottle with the right arm and shake.", + "Grab the bottle with yellow cap and shake it steadily.", + "Lift up the plastic bottle using the right arm, then shake.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the bottle with printed label after grabbing it.", + "Pick the orange cylindrical bottle up using the right arm and shake it.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Take the cylindrical orange bottle with yellow top using the right arm and give it a shake.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Pick up the bottle with narrow neck and shake it well.", + "Grab the bottle with narrow neck and give it a shake.", + "Grab the orange cylindrical bottle using the right arm, then shake.", + "Grab the orange cylindrical bottle with the right arm and shake.", + "Secure the orange bottle and perform a shake.", + "Hold the smooth plastic bottle and shake it properly.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the bottle with printed label.", + "Pick the orange bottle and perform shaking motion.", + "Pick the bottle for liquids, shake it with the right arm.", + "Catch the bottle for liquids and shake it instantly.", + "Secure the bottle for liquids, shake it, and place it down.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the plastic bottle carefully and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to pick and shake the bottle with narrow neck.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Grab and shake the yellow-capped plastic bottle using the right arm.", + "Hold the bottle with yellow cap, shake it briefly.", + "Shake the the orange cylindrical bottle properly after lifting.", + "Hold and shake the the orange bottle carefully." + ], + "unseen": [ + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode149.json b/shake_bottle/ur5_randomized_500/instructions/episode149.json new file mode 100644 index 0000000000000000000000000000000000000000..c9b041078d517994a37ac0a3f20ba5a2620ccfab --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode149.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the cylindrical orange bottle with smooth surface thoroughly after grabbing it.", + "Pick up the rounded bottom orange plastic bottle and shake it.", + "Shake the cylindrical orange bottle with smooth surface after lifting it.", + "Secure the yellow-capped orange plastic bottle and perform a shake.", + "Take the smooth orange cylindrical bottle using the right arm and give it a shake.", + "Grasp the handheld medium-sized liquid bottle with the right arm and shake it.", + "Hold and shake the the rounded bottom orange plastic bottle carefully.", + "Pick up the rounded bottom orange plastic bottle and shake it well.", + "Pick the handheld medium-sized liquid bottle, shake it with the right arm.", + "Use the right arm to lift and shake the yellow-capped orange plastic bottle.", + "Use the right arm to lift and shake the liquid container with orange body.", + "Grip the bottle with yellow cap using the right arm and shake.", + "Pick the orange bottle with bold labeling and perform shaking motion.", + "Grab the bottle with yellow cap and give it a shake.", + "Shake the the rounded orange bottle with yellow top properly after lifting.", + "Grab the yellow-capped bottle for beverages with the right arm and shake.", + "Secure the liquid container with orange body, shake it, and place it down.", + "Grab the cylindrical orange bottle with smooth surface carefully and shake.", + "Grab the rounded bottom orange plastic bottle and shake it steadily.", + "Catch the small bottle with bright yellow lid and shake it instantly.", + "Lift up the liquid container with orange body using the right arm, then shake.", + "With the right arm, pick the yellow-capped orange plastic bottle and shake properly.", + "Use the right arm to lift and shake the rounded orange bottle with yellow top.", + "Grab the bottle with yellow cap using the right arm, then shake.", + "Utilize the right arm to hold the liquid container with orange body and shake it.", + "Lift the orange bottle and shake it thoroughly.", + "Use the right arm to grab the handheld medium-sized liquid bottle and shake it.", + "Shake the rounded bottom orange plastic bottle firmly after grabbing.", + "Lift the handheld medium-sized liquid bottle with the right arm and shake.", + "Hold the handheld medium-sized liquid bottle and shake it properly.", + "Hold the rounded orange bottle with yellow top steady, then shake it.", + "Hold the liquid container with orange body, shake it briefly.", + "Pick the handheld medium-sized liquid bottle up with the right arm and shake.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Grab the yellow-capped orange plastic bottle firmly, shake it, and put it down.", + "Lift the liquid container with orange body and shake it gently.", + "Shake the rounded bottom orange plastic bottle after holding it firmly.", + "Lift the bottle with yellow cap with the right arm and shake it.", + "Use the right arm to grab the small bottle with bright yellow lid and shake properly.", + "Use the right arm to hold the liquid container with orange body and shake it.", + "Hold the cylindrical orange bottle with smooth surface with the right arm and shake lightly.", + "Pick the rounded bottom orange plastic bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the cylindrical orange bottle with smooth surface.", + "Grab and shake the rounded bottom orange plastic bottle using the right arm.", + "Shake the smooth orange cylindrical bottle after grabbing it.", + "Shake the orange bottle using the right arm after grabbing.", + "Lift the cylindrical orange bottle with smooth surface with the right arm and give it a shake.", + "Using the right arm, shake the orange bottle and then place it back.", + "Grab the cylindrical orange bottle with smooth surface and move it to shake.", + "Shake the yellow-capped bottle for beverages after grabbing it.", + "Shake the yellow-capped orange plastic bottle thoroughly after grabbing it.", + "Pick up the liquid container with orange body and shake it.", + "Shake the yellow-capped bottle for beverages after lifting it.", + "Secure the handheld medium-sized liquid bottle and perform a shake.", + "Take the yellow-capped orange plastic bottle using the right arm and give it a shake.", + "Grasp the smooth orange cylindrical bottle with the right arm and shake it.", + "Hold and shake the the bottle with yellow cap carefully.", + "Pick up the orange bottle with bold labeling and shake it well.", + "Pick the smooth orange cylindrical bottle, shake it with the right arm.", + "Use the right arm to lift and shake the orange bottle.", + "Use the right arm to lift and shake the cylindrical orange bottle with smooth surface.", + "Grip the cylindrical orange bottle with smooth surface using the right arm and shake.", + "Pick the liquid container with orange body and perform shaking motion.", + "Grab the liquid container with orange body and give it a shake.", + "Shake the the yellow-capped bottle for beverages properly after lifting.", + "Grab the yellow-capped bottle for beverages with the right arm and shake.", + "Secure the handheld medium-sized liquid bottle, shake it, and place it down.", + "Grab the rounded orange bottle with yellow top carefully and shake.", + "Grab the small bottle with bright yellow lid and shake it steadily.", + "Catch the small bottle with bright yellow lid and shake it instantly.", + "Lift up the orange bottle with bold labeling using the right arm, then shake.", + "With the right arm, pick the liquid container with orange body and shake properly.", + "Use the right arm to lift and shake the handheld medium-sized liquid bottle.", + "Grab the rounded orange bottle with yellow top using the right arm, then shake.", + "Utilize the right arm to hold the bottle with yellow cap and shake it.", + "Lift the rounded bottom orange plastic bottle and shake it thoroughly.", + "Use the right arm to grab the smooth orange cylindrical bottle and shake it.", + "Shake the yellow-capped orange plastic bottle firmly after grabbing.", + "Lift the liquid container with orange body with the right arm and shake.", + "Hold the liquid container with orange body and shake it properly.", + "Hold the rounded orange bottle with yellow top steady, then shake it.", + "Hold the rounded orange bottle with yellow top, shake it briefly.", + "Pick the rounded bottom orange plastic bottle up with the right arm and shake.", + "Shake the orange bottle after grabbing it.", + "Grab the rounded orange bottle with yellow top firmly, shake it, and put it down.", + "Lift the small bottle with bright yellow lid and shake it gently.", + "Shake the orange bottle after holding it firmly.", + "Lift the smooth orange cylindrical bottle with the right arm and shake it.", + "Use the right arm to grab the rounded bottom orange plastic bottle and shake properly.", + "Use the right arm to hold the cylindrical orange bottle with smooth surface and shake it.", + "Hold the smooth orange cylindrical bottle with the right arm and shake lightly.", + "Pick the cylindrical orange bottle with smooth surface up using the right arm and shake it.", + "Use the right arm to pick and shake the bottle with yellow cap.", + "Grab and shake the rounded orange bottle with yellow top using the right arm.", + "Shake the orange bottle after grabbing it.", + "Shake the yellow-capped orange plastic bottle using the right arm after grabbing.", + "Lift the orange bottle with the right arm and give it a shake.", + "Using the right arm, shake the smooth orange cylindrical bottle and then place it back.", + "Grab the rounded orange bottle with yellow top and move it to shake.", + "Shake the rounded bottom orange plastic bottle after grabbing it." + ], + "unseen": [ + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium bottle for liquids and shake it.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium bottle for liquids and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Grab the medium plastic bottle and give it a shake.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Grab the medium bottle for liquids and give it a shake.", + "Use the right arm to pick the medium bottle for liquids.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Grab the medium plastic bottle and give it a shake.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle and shake it.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the right arm to pick the medium plastic bottle.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle and shake it.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Grab the medium plastic bottle and give it a shake.", + "Use the right arm to pick the plastic orange bottle with rounded base.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the medium bottle for liquids with the right arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Use the right arm to pick the medium plastic bottle.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Grab the medium bottle for liquids and give it a shake.", + "Use the right arm to pick the medium bottle for liquids.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode15.json b/shake_bottle/ur5_randomized_500/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..fa41eb9e12fb6175dc993f79b5917bd49800f993 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with yellow cap using the right arm after grabbing.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Shake the medium-sized orange bottle firmly after grabbing.", + "Hold the bottle with yellow cap and shake it properly.", + "With the right arm, pick the orange cylindrical bottle and shake properly.", + "Shake the smooth plastic bottle after lifting it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Secure the cylindrical orange bottle with yellow top and perform a shake.", + "Grab the plastic bottle and give it a shake.", + "Take the orange cylindrical bottle using the right arm and give it a shake.", + "Using the right arm, shake the plastic bottle with sealed yellow cap and then place it back.", + "Pick the bottle with printed label, shake it with the right arm.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Lift the yellow-capped plastic bottle and shake it gently.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Grab the orange cylindrical bottle firmly, shake it, and put it down.", + "Pick up the bottle with yellow cap and shake it.", + "Lift the bottle with narrow neck and shake it thoroughly.", + "Grab the smooth plastic bottle and move it to shake.", + "Hold the plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Pick the plastic bottle with sealed yellow cap and perform shaking motion.", + "Grab the orange bottle using the right arm, then shake.", + "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Grab the orange cylindrical bottle with the right arm and shake.", + "Shake the the bottle with narrow neck properly after lifting.", + "Pick up the bottle with printed label and shake it well.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Lift the bottle with yellow cap with the right arm and shake.", + "Lift the bottle for liquids with the right arm and shake it.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Use the right arm to pick and shake the plastic bottle.", + "Shake the orange cylindrical bottle after grabbing it.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Pick the yellow-capped plastic bottle up with the right arm and shake.", + "Grab the smooth plastic bottle carefully and shake.", + "Grip the orange cylindrical bottle using the right arm and shake.", + "Grab and shake the cylindrical orange bottle with yellow top using the right arm.", + "Hold and shake the the plastic bottle carefully.", + "Pick the medium-sized orange bottle up using the right arm and shake it.", + "Shake the plastic bottle with sealed yellow cap after holding it firmly.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Catch the plastic bottle with sealed yellow cap and shake it instantly.", + "Use the right arm to grab the bottle with printed label and shake properly.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Hold the bottle with yellow cap and shake it properly.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Shake the bottle with printed label after lifting it.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Secure the cylindrical orange bottle with yellow top and perform a shake.", + "Grab the plastic bottle and give it a shake.", + "Take the bottle with yellow cap using the right arm and give it a shake.", + "Using the right arm, shake the plastic bottle with sealed yellow cap and then place it back.", + "Pick the orange bottle, shake it with the right arm.", + "Lift the orange cylindrical bottle with the right arm and give it a shake.", + "Use the right arm to hold the orange cylindrical bottle and shake it.", + "Lift the cylindrical orange bottle with yellow top and shake it gently.", + "Grab the bottle for liquids and shake it steadily.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Pick up the plastic bottle and shake it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Hold the bottle with narrow neck, shake it briefly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Pick the bottle for liquids and perform shaking motion.", + "Grab the bottle with printed label using the right arm, then shake.", + "Utilize the right arm to hold the bottle with narrow neck and shake it.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Grab the bottle with printed label with the right arm and shake.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Pick up the yellow-capped plastic bottle and shake it well.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Lift the orange cylindrical bottle with the right arm and shake.", + "Lift the orange bottle with the right arm and shake it.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Use the right arm to pick and shake the bottle with yellow cap.", + "Shake the smooth plastic bottle after grabbing it.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Pick the bottle for liquids up with the right arm and shake.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Grip the cylindrical orange bottle with yellow top using the right arm and shake.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Hold and shake the the bottle with narrow neck carefully.", + "Pick the plastic bottle with sealed yellow cap up using the right arm and shake it.", + "Shake the bottle for liquids after holding it firmly.", + "Lift up the plastic bottle using the right arm, then shake.", + "Secure the orange cylindrical bottle, shake it, and place it down.", + "Shake the plastic bottle after grabbing it.", + "Hold the bottle for liquids steady, then shake it." + ], + "unseen": [ + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode150.json b/shake_bottle/ur5_randomized_500/instructions/episode150.json new file mode 100644 index 0000000000000000000000000000000000000000..ba2cb58325ef7a5e29aa71dc31b4e384920d76f9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode150.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow container with rounded edges with the left arm and shake it.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Pick the yellow plastic bottle with white top up using the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grab and shake the plastic bottle using the left arm.", + "Lift the bottle with green label and shake it gently.", + "Shake the bottle with green label after holding it firmly.", + "Grab the yellow plastic bottle with white top and give it a shake.", + "Pick the bottle with green label up with the left arm and shake.", + "Using the left arm, shake the bottle with green label and then place it back.", + "Utilize the left arm to hold the bottle with white cap and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the yellow bottle after grabbing it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Use the left arm to hold the smooth bottle with rounded edges and shake it.", + "Hold the smooth bottle with rounded edges, shake it briefly.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Hold the rectangular bottle with cylindrical neck with the left arm and shake lightly.", + "Shake the the smooth bottle with rounded edges properly after lifting.", + "Grab the bottle with a smooth plastic body with the left arm and shake.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Pick the bottle with green label, shake it with the left arm.", + "Use the left arm to pick and shake the yellow container with rounded edges.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Pick up the bottle with green label and shake it well.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Grab the bottle with a smooth plastic body using the left arm, then shake.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Secure the yellow bottle and perform a shake.", + "Secure the bottle with green label, shake it, and place it down.", + "Lift the yellow container with rounded edges with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Shake the bottle with a smooth plastic body thoroughly after grabbing it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Shake the rectangular bottle with cylindrical neck after lifting it.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Hold and shake the the bottle with green and white labels carefully.", + "Grasp the bottle with green label with the left arm and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Grip the bottle with white cap using the left arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Pick up the yellow bottle with a green design and shake it.", + "Lift the bottle with green and white labels with the left arm and shake.", + "Shake the yellow plastic bottle with white top using the left arm after grabbing.", + "Lift the yellow plastic bottle with white top with the left arm and shake it.", + "Shake the yellow bottle after grabbing it.", + "Lift up the yellow container with rounded edges using the left arm, then shake.", + "Pick the bottle with green and white labels up using the left arm and shake it.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Use the left arm to grab the bottle with white cap and shake it.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Grab and shake the rectangular bottle with cylindrical neck using the left arm.", + "Lift the bottle with green and white labels and shake it gently.", + "Shake the yellow bottle with a green design after holding it firmly.", + "Grab the yellow bottle and give it a shake.", + "Pick the bottle with green label up with the left arm and shake.", + "Using the left arm, shake the yellow plastic bottle with white top and then place it back.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Shake the yellow container with rounded edges after grabbing it.", + "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.", + "Use the left arm to hold the plastic bottle and shake it.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Hold the bottle with green label with the left arm and shake lightly.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Grab the yellow container with rounded edges with the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle.", + "With the left arm, pick the medium rectangular yellow bottle and shake properly.", + "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.", + "Use the left arm to pick and shake the bottle with green label.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "Pick up the rectangular bottle with cylindrical neck and shake it well.", + "Grab the yellow container with rounded edges carefully and shake.", + "Grab the yellow bottle with a green design using the left arm, then shake.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Shake the bottle with green label thoroughly after grabbing it.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Shake the plastic bottle after lifting it.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold and shake the the bottle with a smooth plastic body carefully.", + "Grasp the yellow plastic bottle with white top with the left arm and shake it.", + "Hold the bottle with white cap steady, then shake it.", + "Grip the medium rectangular yellow bottle using the left arm and shake.", + "Hold the yellow bottle with a green design and shake it properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick up the bottle with a smooth plastic body and shake it.", + "Lift the yellow container with rounded edges with the left arm and shake.", + "Shake the yellow plastic bottle with white top using the left arm after grabbing." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode151.json b/shake_bottle/ur5_randomized_500/instructions/episode151.json new file mode 100644 index 0000000000000000000000000000000000000000..96bd9552e4e60d9bde35c670497265180c2fc931 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode151.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium-sized bottle and shake it.", + "Pick the blue bottle and perform shaking motion.", + "Hold the bottle with blue cap with the right arm and shake lightly.", + "Hold and shake the the bottle for liquids carefully.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the medium bottle for beverages after grabbing it.", + "Using the right arm, shake the bottle with blue cap and then place it back.", + "Use the right arm to hold the medium bottle for beverages and shake it.", + "Grab the white bottle with blue accents carefully and shake.", + "Use the right arm to grab the handheld bottle and shake it.", + "Shake the cylindrical bottle after holding it firmly.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Lift the white and blue bottle and shake it gently.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Utilize the right arm to hold the medium bottle for beverages and shake it.", + "Shake the blue bottle with label after grabbing it.", + "Pick the white and blue bottle up using the right arm and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Pick the bottle for liquids, shake it with the right arm.", + "Grab the white and blue bottle and give it a shake.", + "Lift the handheld bottle with the right arm and shake it.", + "Use the right arm to pick and shake the white and blue bottle.", + "Shake the medium bottle for beverages using the right arm after grabbing.", + "Lift the medium bottle for beverages with the right arm and shake.", + "Grasp the handheld bottle with the right arm and shake it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Shake the blue bottle after grabbing it.", + "Catch the plastic bottle and shake it instantly.", + "Hold the handheld bottle, shake it briefly.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Grab the medium bottle for beverages with the right arm and shake.", + "Grip the white bottle with blue accents using the right arm and shake.", + "Secure the blue bottle and perform a shake.", + "Grab and shake the blue bottle using the right arm.", + "Shake the blue bottle thoroughly after grabbing it.", + "Shake the blue bottle firmly after grabbing.", + "Grab the plastic bottle and shake it steadily.", + "Grab the bottle with blue cap using the right arm, then shake.", + "Hold the white bottle with blue accents and shake it properly.", + "Take the plastic bottle using the right arm and give it a shake.", + "Shake the white and blue bottle after lifting it.", + "Hold the medium-sized bottle steady, then shake it.", + "Grab the white bottle with blue accents and move it to shake.", + "Pick the medium-sized bottle up with the right arm and shake.", + "Pick up the blue bottle with label and shake it well.", + "Grab the medium bottle for beverages firmly, shake it, and put it down.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the white bottle with blue accents.", + "Use the right arm to grab the white bottle with blue accents and shake properly.", + "Pick up the blue bottle with label and shake it.", + "Pick the white and blue bottle and perform shaking motion.", + "Hold the bottle with blue cap with the right arm and shake lightly.", + "Hold and shake the the white bottle with blue accents carefully.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Shake the medium bottle for beverages after grabbing it.", + "Using the right arm, shake the bottle for liquids and then place it back.", + "Use the right arm to hold the blue bottle with label and shake it.", + "Grab the white and blue bottle carefully and shake.", + "Use the right arm to grab the white and blue bottle and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Lift the white and blue bottle and shake it gently.", + "With the right arm, pick the medium-sized bottle and shake properly.", + "Utilize the right arm to hold the medium bottle for beverages and shake it.", + "Shake the blue bottle with label after grabbing it.", + "Pick the handheld bottle up using the right arm and shake it.", + "Shake the the bottle for liquids properly after lifting.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Grab the cylindrical bottle and give it a shake.", + "Lift the medium-sized bottle with the right arm and shake it.", + "Use the right arm to pick and shake the white and blue bottle.", + "Shake the blue bottle using the right arm after grabbing.", + "Lift the cylindrical bottle with the right arm and shake.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Shake the blue bottle after grabbing it.", + "Catch the blue bottle and shake it instantly.", + "Hold the medium-sized bottle, shake it briefly.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Grab the medium-sized bottle with the right arm and shake.", + "Grip the plastic bottle using the right arm and shake.", + "Secure the cylindrical bottle and perform a shake.", + "Grab and shake the bottle with blue cap using the right arm.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Shake the blue bottle with label firmly after grabbing.", + "Grab the medium-sized bottle and shake it steadily.", + "Grab the bottle for liquids using the right arm, then shake.", + "Hold the blue bottle with label and shake it properly.", + "Take the plastic bottle using the right arm and give it a shake.", + "Shake the bottle for liquids after lifting it.", + "Hold the white bottle with blue accents steady, then shake it.", + "Grab the blue bottle with label and move it to shake.", + "Pick the cylindrical bottle up with the right arm and shake.", + "Pick up the medium bottle for beverages and shake it well.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Lift the bottle with blue cap with the right arm and give it a shake.", + "Lift up the bottle with blue cap using the right arm, then shake.", + "Use the right arm to lift and shake the blue bottle with label.", + "Use the right arm to grab the blue bottle with label and shake properly." + ], + "unseen": [ + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode152.json b/shake_bottle/ur5_randomized_500/instructions/episode152.json new file mode 100644 index 0000000000000000000000000000000000000000..10a7cded9b224f79cff681cbd5b46d6d09336fec --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode152.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the handheld green bottle with the right arm and give it a shake.", + "Shake the smooth green bottle using the right arm after grabbing.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Lift the handheld green bottle with the right arm and shake it.", + "Hold the smooth green bottle, shake it briefly.", + "Use the right arm to pick and shake the handheld green bottle.", + "Grip the bottle with narrow top using the right arm and shake.", + "Lift the medium green bottle and shake it gently.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Grab the medium green bottle and shake it steadily.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Hold the medium-sized green bottle steady, then shake it.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Shake the bottle with white printed label after lifting it.", + "Shake the bottle with white printed label after holding it firmly.", + "Grab the medium-sized green bottle and give it a shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Catch the handheld green bottle and shake it instantly.", + "Shake the bottle with rounded neck after grabbing it.", + "Take the bottle with ridges near base using the right arm and give it a shake.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Lift the smooth green bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Shake the green bottle with indented base firmly after grabbing.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Secure the medium green bottle and perform a shake.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grab and shake the medium green bottle using the right arm.", + "Shake the handheld green bottle after grabbing it.", + "Grab the bottle with rounded neck carefully and shake.", + "Pick up the plastic bottle and shake it.", + "Pick up the smooth green bottle and shake it well.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Grab the plastic bottle with the right arm and shake.", + "Hold the medium green bottle and shake it properly.", + "Pick the medium green bottle and perform shaking motion.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Use the right arm to grab the green bottle with indented base and shake properly.", + "Shake the the bottle with white printed label properly after lifting.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Shake the bottle with rounded neck after grabbing it.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Grab the plastic bottle using the right arm, then shake.", + "Lift the bottle with narrow top and shake it thoroughly.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Lift the handheld green bottle with the right arm and shake it.", + "Hold the bottle with white printed label, shake it briefly.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Grip the bottle with white printed label using the right arm and shake.", + "Lift the smooth green plastic bottle and shake it gently.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Grab the bottle with narrow top and shake it steadily.", + "Hold and shake the the bottle with rounded neck carefully.", + "Grab the bottle with white printed label and move it to shake.", + "Hold the smooth green bottle steady, then shake it.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Shake the bottle with rounded neck after lifting it.", + "Shake the medium green bottle after holding it firmly.", + "Grab the handheld green bottle and give it a shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Catch the medium-sized green bottle and shake it instantly.", + "Shake the bottle with white printed label after grabbing it.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Secure the handheld green bottle, shake it, and place it down.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Secure the bottle with white printed label and perform a shake.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grab and shake the smooth green bottle using the right arm.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the smooth green bottle carefully and shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Pick up the plastic bottle and shake it well.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Hold the handheld green bottle and shake it properly.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Shake the the smooth green bottle properly after lifting.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Grasp the handheld green bottle with the right arm and shake it." + ], + "unseen": [ + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode153.json b/shake_bottle/ur5_randomized_500/instructions/episode153.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ba455e6d034a21ad22db7ca3cf726508bef38d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode153.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the brown bottle and then place it back.", + "Use the right arm to lift and shake the rectangular brown body with white top.", + "Shake the bottle with green cap after grabbing it.", + "Use the right arm to lift and shake the bottle with flat sides and logo.", + "Utilize the right arm to hold the brown bottle and shake it.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Pick the smooth brown bottle with green label up using the right arm and shake it.", + "Lift up the smooth plastic bottle with white cap using the right arm, then shake.", + "Grab and shake the brown bottle with rounded rectangular shape using the right arm.", + "Secure the smooth brown bottle with green label, shake it, and place it down.", + "Grab the plastic bottle and give it a shake.", + "Lift the medium bottle with glossy surface and shake it thoroughly.", + "Lift the bottle with green cap with the right arm and shake.", + "Use the right arm to grab the rectangular-shaped bottle with round cap and shake it.", + "Grab the smooth brown bottle with green label using the right arm, then shake.", + "Use the right arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Pick the brown bottle up with the right arm and shake.", + "Hold the brown bottle, shake it briefly.", + "Take the smooth brown bottle with green label using the right arm and give it a shake.", + "Grab the smooth plastic bottle with white cap and move it to shake.", + "With the right arm, pick the brown bottle and shake properly.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Hold the rectangular brown body with white top with the right arm and shake lightly.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Pick up the smooth brown bottle with green label and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the brown bottle and shake it steadily.", + "Secure the bottle with green cap and perform a shake.", + "Lift the brown bottle with rounded rectangular shape and shake it gently.", + "Catch the smooth brown bottle with green label and shake it instantly.", + "Use the right arm to hold the smooth brown bottle with green label and shake it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the the bottle with green cap properly after lifting.", + "Grasp the bottle with green cap with the right arm and shake it.", + "Lift the smooth brown bottle with green label with the right arm and give it a shake.", + "Pick up the smooth plastic bottle with white cap and shake it well.", + "Hold the bottle with flat sides and logo and shake it properly.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Grab the smooth plastic bottle with white cap with the right arm and shake.", + "Grip the dark brown bottle with a squared body using the right arm and shake.", + "Shake the rectangular brown body with white top firmly after grabbing.", + "Use the right arm to lift and shake the smooth plastic bottle with white cap.", + "Pick the medium bottle with glossy surface, shake it with the right arm.", + "Shake the rectangular-shaped bottle with round cap after holding it firmly.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Use the right arm to pick and shake the bottle with green cap.", + "Pick the medium-sized brown plastic bottle and perform shaking motion.", + "Hold the bottle with flat sides and logo steady, then shake it.", + "Shake the bottle with flat sides and logo after lifting it.", + "Using the right arm, shake the rectangular-shaped bottle with round cap and then place it back.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Use the right arm to lift and shake the smooth plastic bottle with white cap.", + "Utilize the right arm to hold the smooth brown bottle with green label and shake it.", + "Lift the brown bottle with rounded rectangular shape with the right arm and shake it.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Pick the bottle with flat sides and logo up using the right arm and shake it.", + "Lift up the bottle with flat sides and logo using the right arm, then shake.", + "Grab and shake the plastic bottle using the right arm.", + "Secure the smooth brown bottle with green label, shake it, and place it down.", + "Grab the rectangular-shaped bottle with round cap and give it a shake.", + "Lift the medium-sized brown plastic bottle and shake it thoroughly.", + "Lift the dark brown bottle with a squared body with the right arm and shake.", + "Use the right arm to grab the bottle with flat sides and logo and shake it.", + "Grab the brown bottle using the right arm, then shake.", + "Use the right arm to grab the bottle with flat sides and logo and shake properly.", + "Pick the plastic bottle up with the right arm and shake.", + "Hold the rectangular-shaped bottle with round cap, shake it briefly.", + "Take the plastic bottle using the right arm and give it a shake.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "With the right arm, pick the dark brown bottle with a squared body and shake properly.", + "Shake the bottle with green cap after grabbing it.", + "Hold the smooth plastic bottle with white cap with the right arm and shake lightly.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "Pick up the brown bottle with rounded rectangular shape and shake it.", + "Grab the rectangular brown body with white top firmly, shake it, and put it down.", + "Grab the brown bottle and shake it steadily.", + "Secure the smooth plastic bottle with white cap and perform a shake.", + "Lift the rectangular brown body with white top and shake it gently.", + "Catch the medium-sized brown plastic bottle and shake it instantly.", + "Use the right arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Shake the rectangular brown body with white top using the right arm after grabbing.", + "Shake the the smooth brown bottle with green label properly after lifting.", + "Grasp the brown bottle with rounded rectangular shape with the right arm and shake it.", + "Lift the brown bottle with the right arm and give it a shake.", + "Pick up the medium bottle with glossy surface and shake it well.", + "Hold the bottle with green cap and shake it properly.", + "Grab the medium bottle with glossy surface carefully and shake.", + "Grab the bottle with green cap with the right arm and shake.", + "Grip the brown bottle using the right arm and shake.", + "Shake the medium-sized brown plastic bottle firmly after grabbing.", + "Use the right arm to lift and shake the bottle with flat sides and logo.", + "Pick the dark brown bottle with a squared body, shake it with the right arm.", + "Shake the bottle with green cap after holding it firmly.", + "Hold and shake the the brown bottle with rounded rectangular shape carefully.", + "Use the right arm to pick and shake the rectangular-shaped bottle with round cap.", + "Pick the plastic bottle and perform shaking motion.", + "Hold the dark brown bottle with a squared body steady, then shake it.", + "Shake the bottle with flat sides and logo after lifting it." + ], + "unseen": [ + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode154.json b/shake_bottle/ur5_randomized_500/instructions/episode154.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a7af1d729e0412276deb36b43ce4d750344416 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode154.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium bottle with glossy surface with the right arm and give it a shake.", + "Pick the medium bottle with glossy surface and perform shaking motion.", + "Use the right arm to hold the dark brown bottle with a squared body and shake it.", + "Shake the the smooth plastic bottle with white cap properly after lifting.", + "Grab the bottle with green cap firmly, shake it, and put it down.", + "Shake the dark brown bottle with a squared body after holding it firmly.", + "Take the brown bottle with rounded rectangular shape using the right arm and give it a shake.", + "Lift the rectangular brown body with white top with the right arm and shake.", + "Utilize the right arm to hold the smooth brown bottle with green label and shake it.", + "Pick up the medium bottle with glossy surface and shake it well.", + "Secure the brown bottle with rounded rectangular shape and perform a shake.", + "Use the right arm to grab the rectangular-shaped bottle with round cap and shake it.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Grab and shake the medium bottle with glossy surface using the right arm.", + "With the right arm, pick the medium-sized brown plastic bottle and shake properly.", + "Use the right arm to lift and shake the brown bottle.", + "Hold the rectangular brown body with white top with the right arm and shake lightly.", + "Lift the plastic bottle and shake it gently.", + "Grab the smooth brown bottle with green label and move it to shake.", + "Hold the medium bottle with glossy surface, shake it briefly.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Lift up the smooth plastic bottle with white cap using the right arm, then shake.", + "Hold the brown bottle steady, then shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Pick up the brown bottle with rounded rectangular shape and shake it.", + "Grab the dark brown bottle with a squared body and give it a shake.", + "Pick the smooth brown bottle with green label, shake it with the right arm.", + "Grab the rectangular brown body with white top with the right arm and shake.", + "Using the right arm, shake the bottle with green cap and then place it back.", + "Grab the rectangular-shaped bottle with round cap and shake it steadily.", + "Use the right arm to lift and shake the rectangular brown body with white top.", + "Grab the rectangular brown body with white top using the right arm, then shake.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Grip the brown bottle using the right arm and shake.", + "Shake the bottle with flat sides and logo firmly after grabbing.", + "Lift the rectangular-shaped bottle with round cap and shake it thoroughly.", + "Secure the bottle with flat sides and logo, shake it, and place it down.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Pick the rectangular-shaped bottle with round cap up using the right arm and shake it.", + "Shake the brown bottle after grabbing it.", + "Hold the rectangular brown body with white top and shake it properly.", + "Lift the smooth brown bottle with green label with the right arm and shake it.", + "Use the right arm to pick and shake the bottle with flat sides and logo.", + "Pick the dark brown bottle with a squared body up with the right arm and shake.", + "Grasp the rectangular brown body with white top with the right arm and shake it.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Hold and shake the the medium-sized brown plastic bottle carefully.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Lift the smooth brown bottle with green label with the right arm and give it a shake.", + "Pick the dark brown bottle with a squared body and perform shaking motion.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Shake the the dark brown bottle with a squared body properly after lifting.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Shake the brown bottle with rounded rectangular shape after holding it firmly.", + "Take the dark brown bottle with a squared body using the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake.", + "Utilize the right arm to hold the smooth brown bottle with green label and shake it.", + "Pick up the dark brown bottle with a squared body and shake it well.", + "Secure the dark brown bottle with a squared body and perform a shake.", + "Use the right arm to grab the medium-sized brown plastic bottle and shake it.", + "Shake the rectangular brown body with white top after lifting it.", + "Grab and shake the rectangular brown body with white top using the right arm.", + "With the right arm, pick the bottle with flat sides and logo and shake properly.", + "Use the right arm to lift and shake the smooth plastic bottle with white cap.", + "Hold the brown bottle with the right arm and shake lightly.", + "Lift the plastic bottle and shake it gently.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Hold the smooth plastic bottle with white cap, shake it briefly.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "Lift up the smooth plastic bottle with white cap using the right arm, then shake.", + "Hold the smooth brown bottle with green label steady, then shake it.", + "Use the right arm to grab the smooth plastic bottle with white cap and shake properly.", + "Pick up the medium bottle with glossy surface and shake it.", + "Grab the plastic bottle and give it a shake.", + "Pick the plastic bottle, shake it with the right arm.", + "Grab the bottle with green cap with the right arm and shake.", + "Using the right arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Grab the rectangular-shaped bottle with round cap and shake it steadily.", + "Use the right arm to lift and shake the medium-sized brown plastic bottle.", + "Grab the brown bottle using the right arm, then shake.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Shake the medium bottle with glossy surface using the right arm after grabbing.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Grip the bottle with flat sides and logo using the right arm and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the rectangular brown body with white top and shake it thoroughly.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Grab the dark brown bottle with a squared body carefully and shake.", + "Pick the rectangular brown body with white top up using the right arm and shake it.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Hold the brown bottle with rounded rectangular shape and shake it properly.", + "Lift the bottle with green cap with the right arm and shake it.", + "Use the right arm to pick and shake the dark brown bottle with a squared body.", + "Pick the brown bottle with rounded rectangular shape up with the right arm and shake.", + "Grasp the brown bottle with the right arm and shake it.", + "Use the right arm to lift and shake the rectangular brown body with white top.", + "Hold and shake the the brown bottle with rounded rectangular shape carefully.", + "Shake the smooth brown bottle with green label after grabbing it." + ], + "unseen": [ + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode155.json b/shake_bottle/ur5_randomized_500/instructions/episode155.json new file mode 100644 index 0000000000000000000000000000000000000000..e8bde666aa7a45cf7f8dbdfff88b1ab5af29e653 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode155.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the smooth plastic bottle.", + "Hold the yellow bottle, shake it briefly.", + "Hold and shake the the yellow bottle with blue label carefully.", + "Pick the handheld curvy bottle up using the left arm and shake it.", + "Hold the medium-sized bottle steady, then shake it.", + "Pick up the yellow bottle with blue label and shake it well.", + "Shake the plastic bottle with curved sides firmly after grabbing.", + "Use the left arm to grab the yellow bottle with dark label and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Catch the bottle with screw cap and shake it instantly.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Hold the handheld curvy bottle with the left arm and shake lightly.", + "Shake the smooth plastic bottle after grabbing it.", + "Lift up the medium plastic bottle with cap using the left arm, then shake.", + "Secure the bottle with screw cap, shake it, and place it down.", + "Use the left arm to hold the handheld curvy bottle and shake it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the medium-sized bottle after lifting it.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle for liquid.", + "Shake the bottle with screw cap after grabbing it.", + "Grab the medium-sized bottle using the left arm, then shake.", + "Grip the yellow bottle for liquid storage using the left arm and shake.", + "Shake the yellow bottle with dark label using the left arm after grabbing.", + "Grasp the handheld curvy bottle with the left arm and shake it.", + "Grab the yellow bottle with blue label and move it to shake.", + "Use the left arm to pick and shake the yellow bottle with dark label.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Utilize the left arm to hold the bottle with screw cap and shake it.", + "Hold the plastic bottle and shake it properly.", + "Lift the yellow bottle with the left arm and shake it.", + "Using the left arm, shake the yellow bottle with blue label and then place it back.", + "With the left arm, pick the yellow bottle with blue label and shake properly.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Grab the yellow bottle carefully and shake.", + "Use the left arm to lift and shake the yellow bottle with dark label.", + "Secure the yellow bottle with dark label and perform a shake.", + "Pick the yellow bottle for liquid storage, shake it with the left arm.", + "Lift the yellow bottle for liquid storage with the left arm and give it a shake.", + "Pick the yellow bottle up with the left arm and shake.", + "Shake the yellow bottle after grabbing it.", + "Lift the bottle for liquid with the left arm and shake.", + "Grab the plastic bottle with curved sides firmly, shake it, and put it down.", + "Grab the yellow bottle with dark label and give it a shake.", + "Grab the bottle for liquid with the left arm and shake.", + "Shake the yellow bottle for liquid storage after holding it firmly.", + "Lift the handheld curvy bottle and shake it gently.", + "Pick the bottle with screw cap and perform shaking motion.", + "Shake the yellow bottle for liquid storage thoroughly after grabbing it.", + "Shake the the bottle for liquid properly after lifting.", + "Use the left arm to lift and shake the bottle for liquid.", + "Hold the medium-sized bottle, shake it briefly.", + "Hold and shake the the medium plastic bottle with cap carefully.", + "Pick the yellow bottle up using the left arm and shake it.", + "Hold the yellow bottle steady, then shake it.", + "Pick up the medium plastic bottle with cap and shake it well.", + "Shake the plastic bottle firmly after grabbing.", + "Use the left arm to grab the bottle with screw cap and shake it.", + "Pick up the bottle with screw cap and shake it.", + "Catch the yellow bottle for liquid storage and shake it instantly.", + "Grab and shake the bottle for liquid using the left arm.", + "Hold the yellow bottle with dark label with the left arm and shake lightly.", + "Shake the yellow bottle with dark label after grabbing it.", + "Lift up the plastic bottle with curved sides using the left arm, then shake.", + "Secure the yellow bottle for liquid storage, shake it, and place it down.", + "Use the left arm to hold the bottle for liquid and shake it.", + "Take the yellow bottle with dark label using the left arm and give it a shake.", + "Shake the bottle with screw cap after lifting it.", + "Grab the yellow bottle and shake it steadily.", + "Use the left arm to lift and shake the plastic bottle with curved sides.", + "Shake the handheld curvy bottle after grabbing it.", + "Grab the handheld curvy bottle using the left arm, then shake.", + "Grip the medium-sized bottle using the left arm and shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Grasp the bottle for liquid with the left arm and shake it.", + "Grab the yellow bottle with dark label and move it to shake.", + "Use the left arm to pick and shake the handheld curvy bottle.", + "Use the left arm to grab the medium plastic bottle with cap and shake properly.", + "Utilize the left arm to hold the yellow bottle with dark label and shake it.", + "Hold the bottle for liquid and shake it properly.", + "Lift the bottle with screw cap with the left arm and shake it.", + "Using the left arm, shake the bottle for liquid and then place it back.", + "With the left arm, pick the bottle for liquid and shake properly.", + "Lift the medium plastic bottle with cap and shake it thoroughly.", + "Grab the medium-sized bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Secure the yellow bottle with dark label and perform a shake.", + "Pick the plastic bottle with curved sides, shake it with the left arm.", + "Lift the medium plastic bottle with cap with the left arm and give it a shake.", + "Pick the yellow bottle for liquid storage up with the left arm and shake.", + "Shake the handheld curvy bottle after grabbing it.", + "Lift the handheld curvy bottle with the left arm and shake.", + "Grab the medium plastic bottle with cap firmly, shake it, and put it down.", + "Grab the bottle with screw cap and give it a shake.", + "Grab the medium plastic bottle with cap with the left arm and shake.", + "Shake the plastic bottle with curved sides after holding it firmly.", + "Lift the bottle with screw cap and shake it gently.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Shake the the smooth plastic bottle properly after lifting." + ], + "unseen": [ + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode156.json b/shake_bottle/ur5_randomized_500/instructions/episode156.json new file mode 100644 index 0000000000000000000000000000000000000000..2168376d8f1115dd08ad760af38cdf8dbdcbacc1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode156.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, shake the bottle for liquids and then place it back.", + "Use the left arm to hold the handheld bottle and shake it.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the medium bottle for beverages after grabbing it.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Hold the white bottle with blue accents, shake it briefly.", + "Shake the blue bottle with label after grabbing it.", + "Shake the white and blue bottle firmly after grabbing.", + "Hold and shake the the white and blue bottle carefully.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Use the left arm to grab the white bottle with blue accents and shake properly.", + "Pick the cylindrical bottle up with the left arm and shake.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the bottle for liquids carefully and shake.", + "Grab the handheld bottle and shake it steadily.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Catch the medium-sized bottle and shake it instantly.", + "Pick up the white bottle with blue accents and shake it.", + "Hold the medium bottle for beverages and shake it properly.", + "Lift up the cylindrical bottle using the left arm, then shake.", + "Utilize the left arm to hold the cylindrical bottle and shake it.", + "Grab the medium bottle for beverages firmly, shake it, and put it down.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Take the cylindrical bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the the white and blue bottle properly after lifting.", + "Grab the blue bottle with the left arm and shake.", + "Lift the cylindrical bottle with the left arm and shake it.", + "Pick up the smooth plastic bottle and shake it well.", + "With the left arm, pick the white and blue bottle and shake properly.", + "Grip the white bottle with blue accents using the left arm and shake.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Lift the medium-sized bottle with the left arm and shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Lift the medium-sized bottle and shake it gently.", + "Shake the blue bottle after grabbing it.", + "Secure the white and blue bottle and perform a shake.", + "Grab the medium bottle for beverages and move it to shake.", + "Hold the smooth plastic bottle steady, then shake it.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the medium bottle for beverages after holding it firmly.", + "Grab the bottle for liquids and give it a shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Shake the blue bottle with label after lifting it.", + "Lift the cylindrical bottle with the left arm and give it a shake.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Using the left arm, shake the bottle with blue cap and then place it back.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Use the left arm to pick and shake the bottle with blue cap.", + "Shake the white and blue bottle after grabbing it.", + "Use the left arm to grab the blue bottle and shake it.", + "Pick the blue bottle and perform shaking motion.", + "Hold the bottle for liquids, shake it briefly.", + "Shake the white and blue bottle after grabbing it.", + "Shake the bottle for liquids firmly after grabbing.", + "Hold and shake the the blue bottle carefully.", + "Pick the white and blue bottle, shake it with the left arm.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Pick the bottle with blue cap up with the left arm and shake.", + "Pick the cylindrical bottle up using the left arm and shake it.", + "Grab the medium-sized bottle using the left arm, then shake.", + "Grab the blue bottle carefully and shake.", + "Grab the bottle with blue cap and shake it steadily.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Catch the bottle with blue cap and shake it instantly.", + "Pick up the cylindrical bottle and shake it.", + "Hold the handheld bottle and shake it properly.", + "Lift up the bottle for liquids using the left arm, then shake.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Grab the handheld bottle firmly, shake it, and put it down.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Take the white and blue bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Shake the the medium-sized bottle properly after lifting.", + "Grab the bottle with blue cap with the left arm and shake.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Pick up the smooth plastic bottle and shake it well.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Grip the bottle for liquids using the left arm and shake.", + "Lift the blue bottle with label and shake it thoroughly.", + "Lift the bottle for liquids with the left arm and shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Lift the medium-sized bottle and shake it gently.", + "Shake the cylindrical bottle after grabbing it.", + "Secure the white bottle with blue accents and perform a shake.", + "Grab the white bottle with blue accents and move it to shake.", + "Hold the blue bottle steady, then shake it.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Shake the cylindrical bottle after holding it firmly.", + "Grab the blue bottle with label and give it a shake.", + "Secure the handheld bottle, shake it, and place it down.", + "Shake the white bottle with blue accents after lifting it.", + "Lift the medium bottle for beverages with the left arm and give it a shake.", + "Grab and shake the white bottle with blue accents using the left arm." + ], + "unseen": [ + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode157.json b/shake_bottle/ur5_randomized_500/instructions/episode157.json new file mode 100644 index 0000000000000000000000000000000000000000..957eea6c1a32983af54b2bac1597081fc7d2ed05 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode157.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to grab the medium green bottle and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grip the medium green bottle using the left arm and shake.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Pick up the bottle with narrow top and shake it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grab the plastic bottle and shake it steadily.", + "Hold the plastic bottle and shake it properly.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Lift the medium green bottle with the left arm and shake it.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Shake the bottle with rounded neck after grabbing it.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Grab the medium green bottle and give it a shake.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Hold the medium green bottle, shake it briefly.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Hold and shake the the smooth green bottle carefully.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Shake the the bottle with narrow top properly after lifting.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Grab the smooth green bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Shake the smooth green bottle after grabbing it.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Secure the bottle with ridges near base and perform a shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Hold the bottle with rounded neck steady, then shake it.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the medium green bottle using the left arm after grabbing.", + "Shake the bottle with rounded neck after holding it firmly.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Lift the smooth green bottle and shake it gently.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Pick up the bottle with narrow top and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grab the bottle with ridges near base and shake it steadily.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Pick the medium green bottle, shake it with the left arm.", + "Lift the handheld green bottle with the left arm and shake it.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Pick up the medium-sized green bottle and shake it well.", + "Shake the green bottle with indented base after grabbing it.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Grab the bottle with white printed label and give it a shake.", + "Lift up the medium green bottle using the left arm, then shake.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Grab and shake the green bottle with indented base using the left arm.", + "Hold and shake the the plastic bottle carefully.", + "Shake the bottle with narrow top after lifting it.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Shake the the bottle with white printed label properly after lifting.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Lift the smooth green bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grab the smooth green bottle carefully and shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Shake the bottle with white printed label after grabbing it.", + "Pick the medium green bottle up using the left arm and shake it.", + "Pick the smooth green bottle up with the left arm and shake.", + "Secure the bottle with white printed label and perform a shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Hold the bottle with rounded neck steady, then shake it." + ], + "unseen": [ + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode158.json b/shake_bottle/ur5_randomized_500/instructions/episode158.json new file mode 100644 index 0000000000000000000000000000000000000000..a259d599a009dfd08ebcafaaf6abcd9d025c7320 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode158.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic bottle, shake it briefly.", + "Grab the medium orange bottle and give it a shake.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Pick the drinking bottle with yellow label up with the right arm and shake.", + "Lift the bottle with orange cap with the right arm and shake it.", + "Hold and shake the the medium bottle with orange lid carefully.", + "Use the right arm to grab the orange bottle and shake it.", + "Use the right arm to pick and shake the white and orange plastic bottle.", + "Use the right arm to lift and shake the yellow label bottle.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Hold the plastic bottle steady, then shake it.", + "Shake the the cylindrical orange and white bottle properly after lifting.", + "Lift up the medium bottle with orange lid using the right arm, then shake.", + "Grab and shake the plastic bottle using the right arm.", + "Lift the medium orange bottle and shake it gently.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Lift the drinking bottle with yellow label and shake it thoroughly.", + "Pick up the medium bottle with orange lid and shake it well.", + "Grab the white and orange plastic bottle and move it to shake.", + "Use the right arm to hold the orange bottle and shake it.", + "Catch the white and orange plastic bottle and shake it instantly.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the white and orange plastic bottle after lifting it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Use the right arm to grab the medium orange bottle and shake properly.", + "Grab the yellow label bottle with the right arm and shake.", + "Using the right arm, shake the orange and white bottle with cap and then place it back.", + "With the right arm, pick the medium orange bottle and shake properly.", + "Shake the bottle with orange cap after grabbing it.", + "Pick the medium orange bottle and perform shaking motion.", + "Take the cylindrical orange and white bottle using the right arm and give it a shake.", + "Grab the drinking bottle with yellow label carefully and shake.", + "Utilize the right arm to hold the yellow label bottle and shake it.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Shake the cylindrical orange and white bottle using the right arm after grabbing.", + "Lift the drinking bottle with yellow label with the right arm and shake.", + "Grip the orange and white bottle with cap using the right arm and shake.", + "Grab the orange and white bottle with cap and shake it steadily.", + "Use the right arm to lift and shake the bottle with ribbed orange bottom.", + "Use the right arm to lift and shake the bottle with orange cap.", + "Pick the bottle with ribbed orange bottom, shake it with the right arm.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Shake the bottle with orange cap after grabbing it.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Lift the cylindrical orange and white bottle with the right arm and give it a shake.", + "Grab the white and orange plastic bottle firmly, shake it, and put it down.", + "Grasp the orange bottle with the right arm and shake it.", + "Hold the cylindrical orange and white bottle with the right arm and shake lightly.", + "Hold the orange and white bottle with cap and shake it properly.", + "Hold the bottle with ribbed orange bottom, shake it briefly.", + "Grab the plastic bottle and give it a shake.", + "Pick up the bottle with ribbed orange bottom and shake it.", + "Pick the cylindrical orange and white bottle up with the right arm and shake.", + "Lift the orange and white bottle with cap with the right arm and shake it.", + "Hold and shake the the drinking bottle with yellow label carefully.", + "Use the right arm to grab the medium orange bottle and shake it.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Use the right arm to lift and shake the medium bottle with orange lid.", + "Grab the cylindrical orange and white bottle using the right arm, then shake.", + "Hold the white and orange plastic bottle steady, then shake it.", + "Shake the the orange bottle properly after lifting.", + "Lift up the medium bottle with orange lid using the right arm, then shake.", + "Grab and shake the bottle with orange cap using the right arm.", + "Lift the cylindrical orange and white bottle and shake it gently.", + "Shake the medium orange bottle after grabbing it.", + "Lift the yellow label bottle and shake it thoroughly.", + "Pick up the bottle with orange cap and shake it well.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Use the right arm to hold the bottle with ribbed orange bottom and shake it.", + "Catch the smooth plastic bottle and shake it instantly.", + "Secure the bottle with ribbed orange bottom, shake it, and place it down.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Shake the orange bottle firmly after grabbing.", + "Secure the medium orange bottle and perform a shake.", + "Use the right arm to grab the medium orange bottle and shake properly.", + "Grab the plastic bottle with the right arm and shake.", + "Using the right arm, shake the yellow label bottle and then place it back.", + "With the right arm, pick the white and orange plastic bottle and shake properly.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Take the bottle with orange cap using the right arm and give it a shake.", + "Grab the yellow label bottle carefully and shake.", + "Utilize the right arm to hold the medium bottle with orange lid and shake it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Grip the yellow label bottle using the right arm and shake.", + "Grab the yellow label bottle and shake it steadily.", + "Use the right arm to lift and shake the cylindrical orange and white bottle.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the drinking bottle with yellow label, shake it with the right arm.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Shake the orange and white bottle with cap after grabbing it.", + "Pick the plastic bottle up using the right arm and shake it.", + "Lift the orange bottle with the right arm and give it a shake.", + "Grab the medium orange bottle firmly, shake it, and put it down.", + "Grasp the plastic bottle with the right arm and shake it.", + "Hold the yellow label bottle with the right arm and shake lightly.", + "Hold the bottle with orange cap and shake it properly." + ], + "unseen": [ + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode159.json b/shake_bottle/ur5_randomized_500/instructions/episode159.json new file mode 100644 index 0000000000000000000000000000000000000000..a36a2f488fa31a450363a8dbf82890cbd98b6b6a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode159.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the long thin bottle using the left arm, then shake.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Grab the smooth bottle with red lid and give it a shake.", + "Grab the narrow-necked bottle carefully and shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Grab and shake the red-capped bottle using the left arm.", + "Pick up the red-capped bottle and shake it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Pick the long thin bottle up with the left arm and shake.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Shake the the brown bottle with red label properly after lifting.", + "Grab the long thin bottle and move it to shake.", + "Pick the red-capped bottle, shake it with the left arm.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Hold the red-capped bottle steady, then shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift the narrow-necked bottle and shake it gently.", + "Hold the medium dark brown bottle, shake it briefly.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Grab the long thin bottle using the left arm, then shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Shake the hand-sized soda bottle after lifting it.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Secure the long thin bottle and perform a shake.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Shake the plastic drink bottle after grabbing it.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Grab the narrow-necked bottle and give it a shake.", + "Grab the hand-sized soda bottle carefully and shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Pick up the bottle with white neck and red top and shake it.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Pick the long thin bottle up with the left arm and shake.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Shake the long thin bottle after holding it firmly.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the hand-sized soda bottle and move it to shake.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Hold the plastic drink bottle steady, then shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Lift the long thin bottle with the left arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift the narrow-necked bottle and shake it gently.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Shake the red-capped bottle after grabbing it.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Shake the hand-sized soda bottle after lifting it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the brown bottle with red label firmly after grabbing.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Secure the red-capped bottle and perform a shake.", + "Grab the brown bottle with red label with the left arm and shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the medium dark brown bottle after grabbing it." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode16.json b/shake_bottle/ur5_randomized_500/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..c1f4139e2992f0968371cbf6ebb8b70c0a5c551f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the orange and white bottle with cap.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Grab and shake the yellow label bottle using the right arm.", + "Secure the cylindrical orange and white bottle, shake it, and place it down.", + "Grab the medium orange bottle firmly, shake it, and put it down.", + "Pick up the smooth plastic bottle and shake it.", + "Hold the yellow label bottle with the right arm and shake lightly.", + "Use the right arm to hold the drinking bottle with yellow label and shake it.", + "Shake the bottle with orange cap thoroughly after grabbing it.", + "With the right arm, pick the cylindrical orange and white bottle and shake properly.", + "Grab the yellow label bottle and give it a shake.", + "Pick the bottle with ribbed orange bottom, shake it with the right arm.", + "Lift the plastic bottle and shake it gently.", + "Shake the bottle with orange cap after lifting it.", + "Take the bottle with orange cap using the right arm and give it a shake.", + "Lift the white and orange plastic bottle with the right arm and shake it.", + "Shake the the cylindrical orange and white bottle properly after lifting.", + "Use the right arm to lift and shake the bottle with orange cap.", + "Grab the drinking bottle with yellow label with the right arm and shake.", + "Grab the bottle with orange cap and shake it steadily.", + "Utilize the right arm to hold the bottle with orange cap and shake it.", + "Grab the medium orange bottle carefully and shake.", + "Grasp the white and orange plastic bottle with the right arm and shake it.", + "Shake the bottle with orange cap firmly after grabbing.", + "Using the right arm, shake the medium bottle with orange lid and then place it back.", + "Use the right arm to grab the medium bottle with orange lid and shake it.", + "Pick the white and orange plastic bottle up using the right arm and shake it.", + "Grab the medium bottle with orange lid and move it to shake.", + "Shake the cylindrical orange and white bottle using the right arm after grabbing.", + "Grab the medium orange bottle using the right arm, then shake.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Catch the bottle with orange cap and shake it instantly.", + "Use the right arm to grab the medium bottle with orange lid and shake properly.", + "Lift the orange bottle with the right arm and shake.", + "Hold and shake the the medium bottle with orange lid carefully.", + "Lift up the yellow label bottle using the right arm, then shake.", + "Lift the drinking bottle with yellow label and shake it thoroughly.", + "Use the right arm to lift and shake the medium orange bottle.", + "Pick up the medium bottle with orange lid and shake it well.", + "Shake the medium orange bottle after grabbing it.", + "Grip the yellow label bottle using the right arm and shake.", + "Shake the orange and white bottle with cap after holding it firmly.", + "Lift the orange bottle with the right arm and give it a shake.", + "Shake the medium bottle with orange lid after grabbing it.", + "Pick the bottle with orange cap up with the right arm and shake.", + "Use the right arm to pick and shake the medium orange bottle.", + "Secure the plastic bottle and perform a shake.", + "Hold the medium orange bottle steady, then shake it.", + "Hold the bottle with ribbed orange bottom and shake it properly.", + "Hold the yellow label bottle, shake it briefly.", + "Use the right arm to lift and shake the medium orange bottle.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Grab and shake the cylindrical orange and white bottle using the right arm.", + "Secure the orange bottle, shake it, and place it down.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick up the white and orange plastic bottle and shake it.", + "Hold the orange bottle with the right arm and shake lightly.", + "Use the right arm to hold the orange bottle and shake it.", + "Shake the medium orange bottle thoroughly after grabbing it.", + "With the right arm, pick the cylindrical orange and white bottle and shake properly.", + "Grab the yellow label bottle and give it a shake.", + "Pick the orange bottle, shake it with the right arm.", + "Lift the medium bottle with orange lid and shake it gently.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Take the medium bottle with orange lid using the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the the orange bottle properly after lifting.", + "Use the right arm to lift and shake the cylindrical orange and white bottle.", + "Grab the white and orange plastic bottle with the right arm and shake.", + "Grab the bottle with orange cap and shake it steadily.", + "Utilize the right arm to hold the yellow label bottle and shake it.", + "Grab the medium bottle with orange lid carefully and shake.", + "Grasp the medium orange bottle with the right arm and shake it.", + "Shake the white and orange plastic bottle firmly after grabbing.", + "Using the right arm, shake the orange bottle and then place it back.", + "Use the right arm to grab the medium orange bottle and shake it.", + "Pick the yellow label bottle up using the right arm and shake it.", + "Grab the yellow label bottle and move it to shake.", + "Shake the medium bottle with orange lid using the right arm after grabbing.", + "Grab the orange and white bottle with cap using the right arm, then shake.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Catch the bottle with ribbed orange bottom and shake it instantly.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Lift the orange bottle with the right arm and shake.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Lift up the cylindrical orange and white bottle using the right arm, then shake.", + "Lift the drinking bottle with yellow label and shake it thoroughly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Pick up the cylindrical orange and white bottle and shake it well.", + "Shake the white and orange plastic bottle after grabbing it.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Lift the yellow label bottle with the right arm and give it a shake.", + "Shake the medium orange bottle after grabbing it.", + "Pick the yellow label bottle up with the right arm and shake.", + "Use the right arm to pick and shake the orange and white bottle with cap.", + "Secure the bottle with orange cap and perform a shake.", + "Hold the plastic bottle steady, then shake it.", + "Hold the orange bottle and shake it properly.", + "Hold the bottle with orange cap, shake it briefly." + ], + "unseen": [ + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode160.json b/shake_bottle/ur5_randomized_500/instructions/episode160.json new file mode 100644 index 0000000000000000000000000000000000000000..2a923dfef9a0aca8a5b5092d331877cf57dd145a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode160.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the blue bottle with the left arm and shake it.", + "Hold the light blue cylindrical bottle steady, then shake it.", + "Grab the plastic bottle carefully and shake.", + "Lift up the bottle with black textured cap using the left arm, then shake.", + "Use the left arm to pick and shake the rounded bottle with black lid.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the light blue bottle with strap-loop.", + "Take the rounded bottle with black lid using the left arm and give it a shake.", + "Hold the rounded bottle with black lid with the left arm and shake lightly.", + "Lift the medium water bottle and shake it thoroughly.", + "Lift the light blue cylindrical bottle with the left arm and shake.", + "Pick up the light blue bottle with smooth body and shake it.", + "Utilize the left arm to hold the rounded bottle with black lid and shake it.", + "Hold and shake the the medium water bottle carefully.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Secure the plastic bottle with black top, shake it, and place it down.", + "Shake the portable bottle for liquids thoroughly after grabbing it.", + "Shake the bottle with black textured cap after holding it firmly.", + "Lift the light blue bottle with smooth body with the left arm and give it a shake.", + "Use the left arm to lift and shake the light blue cylindrical bottle.", + "Secure the light blue bottle with strap-loop and perform a shake.", + "Hold the cylindrical bottle with rounded edges and shake it properly.", + "Grip the rounded bottle with black lid using the left arm and shake.", + "Pick the blue water bottle with textured lid, shake it with the left arm.", + "With the left arm, pick the light blue cylindrical bottle and shake properly.", + "Shake the bottle with black textured cap after lifting it.", + "Grab the medium water bottle and move it to shake.", + "Shake the light blue bottle with smooth body after grabbing it.", + "Grab the medium water bottle with the left arm and shake.", + "Shake the portable bottle for liquids after grabbing it.", + "Pick up the portable bottle for liquids and shake it well.", + "Shake the blue bottle firmly after grabbing.", + "Pick the medium water bottle up using the left arm and shake it.", + "Grab and shake the light blue bottle with smooth body using the left arm.", + "Use the left arm to hold the bottle with black textured cap and shake it.", + "Pick the light blue bottle with strap-loop and perform shaking motion.", + "Grab the rounded bottle with black lid using the left arm, then shake.", + "Catch the light blue bottle with strap-loop and shake it instantly.", + "Using the left arm, shake the medium water bottle and then place it back.", + "Use the left arm to lift and shake the blue water bottle with textured lid.", + "Shake the the medium water bottle properly after lifting.", + "Pick the portable bottle for liquids up with the left arm and shake.", + "Grasp the light blue bottle with strap-loop with the left arm and shake it.", + "Hold the rounded bottle with black lid, shake it briefly.", + "Grab the bottle with black textured cap and give it a shake.", + "Shake the light blue cylindrical bottle after grabbing it.", + "Lift the plastic bottle with black top and shake it gently.", + "Use the left arm to grab the rounded bottle with black lid and shake it.", + "Shake the light blue bottle with smooth body using the left arm after grabbing.", + "Grab the plastic bottle with black top and shake it steadily.", + "Lift the cylindrical bottle with rounded edges with the left arm and shake it.", + "Hold the medium water bottle steady, then shake it.", + "Grab the medium water bottle carefully and shake.", + "Lift up the plastic bottle with black top using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with black textured cap.", + "Grab the light blue cylindrical bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium water bottle.", + "Take the light blue bottle with smooth body using the left arm and give it a shake.", + "Hold the medium water bottle with the left arm and shake lightly.", + "Lift the portable bottle for liquids and shake it thoroughly.", + "Lift the rounded bottle with black lid with the left arm and shake.", + "Pick up the plastic bottle with black top and shake it.", + "Utilize the left arm to hold the medium water bottle and shake it.", + "Hold and shake the the plastic bottle with black top carefully.", + "Use the left arm to grab the portable bottle for liquids and shake properly.", + "Secure the portable bottle for liquids, shake it, and place it down.", + "Shake the light blue bottle with strap-loop thoroughly after grabbing it.", + "Shake the rounded bottle with black lid after holding it firmly.", + "Lift the medium water bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the light blue cylindrical bottle.", + "Secure the bottle with black textured cap and perform a shake.", + "Hold the bottle with black textured cap and shake it properly.", + "Grip the medium water bottle using the left arm and shake.", + "Pick the blue bottle, shake it with the left arm.", + "With the left arm, pick the bottle with black textured cap and shake properly.", + "Shake the plastic bottle after lifting it.", + "Grab the cylindrical bottle with rounded edges and move it to shake.", + "Shake the plastic bottle with black top after grabbing it.", + "Grab the blue water bottle with textured lid with the left arm and shake.", + "Shake the portable bottle for liquids after grabbing it.", + "Pick up the light blue cylindrical bottle and shake it well.", + "Shake the cylindrical bottle with rounded edges firmly after grabbing.", + "Pick the blue bottle up using the left arm and shake it.", + "Grab and shake the medium water bottle using the left arm.", + "Use the left arm to hold the blue bottle and shake it.", + "Pick the light blue cylindrical bottle and perform shaking motion.", + "Grab the light blue bottle with smooth body using the left arm, then shake.", + "Catch the light blue bottle with smooth body and shake it instantly.", + "Using the left arm, shake the blue water bottle with textured lid and then place it back.", + "Use the left arm to lift and shake the blue bottle.", + "Shake the the bottle with black textured cap properly after lifting.", + "Pick the light blue cylindrical bottle up with the left arm and shake.", + "Grasp the bottle with black textured cap with the left arm and shake it.", + "Hold the blue water bottle with textured lid, shake it briefly.", + "Grab the blue water bottle with textured lid and give it a shake.", + "Shake the blue bottle after grabbing it.", + "Lift the blue water bottle with textured lid and shake it gently.", + "Use the left arm to grab the cylindrical bottle with rounded edges and shake it.", + "Shake the blue bottle using the left arm after grabbing.", + "Grab the medium water bottle and shake it steadily." + ], + "unseen": [ + "Use the left arm to pick the bottle with attached loop on cap.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Use the left arm to pick the smooth blue water bottle.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the smooth blue water bottle and give it a shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Grab the smooth blue water bottle and give it a shake.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the smooth blue water bottle and give it a shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode161.json b/shake_bottle/ur5_randomized_500/instructions/episode161.json new file mode 100644 index 0000000000000000000000000000000000000000..faf96a8123436dcd5004caabeeb0a4fbef8fd4b6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode161.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the medium-sized brown plastic bottle using the right arm and shake.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Hold the medium bottle with glossy surface steady, then shake it.", + "Utilize the right arm to hold the bottle with flat sides and logo and shake it.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down.", + "Use the right arm to pick and shake the medium bottle with glossy surface.", + "Use the right arm to lift and shake the bottle with green cap.", + "Shake the the smooth plastic bottle with white cap properly after lifting.", + "Use the right arm to hold the smooth brown bottle with green label and shake it.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Grasp the brown bottle with rounded rectangular shape with the right arm and shake it.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Hold the dark brown bottle with a squared body and shake it properly.", + "Catch the brown bottle and shake it instantly.", + "Use the right arm to lift and shake the bottle with flat sides and logo.", + "Lift up the medium-sized brown plastic bottle using the right arm, then shake.", + "Lift the medium-sized brown plastic bottle and shake it thoroughly.", + "Grab the medium bottle with glossy surface with the right arm and shake.", + "Lift the dark brown bottle with a squared body with the right arm and shake.", + "Using the right arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Use the right arm to grab the medium bottle with glossy surface and shake it.", + "Grab the bottle with flat sides and logo and shake it steadily.", + "Lift the brown bottle with rounded rectangular shape and shake it gently.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Grab and shake the bottle with flat sides and logo using the right arm.", + "Shake the rectangular-shaped bottle with round cap firmly after grabbing.", + "Grab the plastic bottle and give it a shake.", + "Shake the rectangular brown body with white top after holding it firmly.", + "Pick up the brown bottle and shake it well.", + "Shake the smooth plastic bottle with white cap after lifting it.", + "With the right arm, pick the brown bottle with rounded rectangular shape and shake properly.", + "Shake the plastic bottle using the right arm after grabbing.", + "Secure the medium bottle with glossy surface and perform a shake.", + "Pick the rectangular brown body with white top up using the right arm and shake it.", + "Pick the smooth plastic bottle with white cap and perform shaking motion.", + "Use the right arm to lift and shake the bottle with green cap.", + "Take the bottle with green cap using the right arm and give it a shake.", + "Hold and shake the the dark brown bottle with a squared body carefully.", + "Hold the brown bottle with rounded rectangular shape, shake it briefly.", + "Grab the rectangular-shaped bottle with round cap using the right arm, then shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the brown bottle and move it to shake.", + "Use the right arm to grab the dark brown bottle with a squared body and shake properly.", + "Lift the smooth plastic bottle with white cap with the right arm and shake it.", + "Lift the brown bottle with the right arm and give it a shake.", + "Pick the rectangular-shaped bottle with round cap, shake it with the right arm.", + "Hold the brown bottle with the right arm and shake lightly.", + "Pick up the dark brown bottle with a squared body and shake it.", + "Shake the plastic bottle after grabbing it.", + "Pick the medium-sized brown plastic bottle up with the right arm and shake.", + "Grip the plastic bottle using the right arm and shake.", + "Shake the rectangular brown body with white top after grabbing it.", + "Hold the medium-sized brown plastic bottle steady, then shake it.", + "Utilize the right arm to hold the bottle with flat sides and logo and shake it.", + "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.", + "Use the right arm to pick and shake the medium bottle with glossy surface.", + "Use the right arm to lift and shake the bottle with green cap.", + "Shake the the brown bottle with rounded rectangular shape properly after lifting.", + "Use the right arm to hold the medium bottle with glossy surface and shake it.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Grasp the dark brown bottle with a squared body with the right arm and shake it.", + "Grab the smooth plastic bottle with white cap carefully and shake.", + "Hold the medium bottle with glossy surface and shake it properly.", + "Catch the bottle with green cap and shake it instantly.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Lift up the rectangular-shaped bottle with round cap using the right arm, then shake.", + "Lift the smooth plastic bottle with white cap and shake it thoroughly.", + "Grab the smooth brown bottle with green label with the right arm and shake.", + "Lift the bottle with flat sides and logo with the right arm and shake.", + "Using the right arm, shake the medium-sized brown plastic bottle and then place it back.", + "Use the right arm to grab the brown bottle with rounded rectangular shape and shake it.", + "Grab the bottle with green cap and shake it steadily.", + "Lift the smooth plastic bottle with white cap and shake it gently.", + "Shake the rectangular brown body with white top thoroughly after grabbing it.", + "Grab and shake the rectangular brown body with white top using the right arm.", + "Shake the medium bottle with glossy surface firmly after grabbing.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after holding it firmly.", + "Pick up the dark brown bottle with a squared body and shake it well.", + "Shake the plastic bottle after lifting it.", + "With the right arm, pick the smooth plastic bottle with white cap and shake properly.", + "Shake the smooth brown bottle with green label using the right arm after grabbing.", + "Secure the smooth brown bottle with green label and perform a shake.", + "Pick the medium bottle with glossy surface up using the right arm and shake it.", + "Pick the bottle with flat sides and logo and perform shaking motion.", + "Use the right arm to lift and shake the rectangular brown body with white top.", + "Take the brown bottle using the right arm and give it a shake.", + "Hold and shake the the rectangular-shaped bottle with round cap carefully.", + "Hold the rectangular brown body with white top, shake it briefly.", + "Grab the medium bottle with glossy surface using the right arm, then shake.", + "Secure the bottle with green cap, shake it, and place it down.", + "Grab the medium bottle with glossy surface and move it to shake.", + "Use the right arm to grab the medium-sized brown plastic bottle and shake properly.", + "Lift the medium bottle with glossy surface with the right arm and shake it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Pick the medium bottle with glossy surface, shake it with the right arm.", + "Hold the brown bottle with the right arm and shake lightly.", + "Pick up the smooth plastic bottle with white cap and shake it.", + "Shake the brown bottle after grabbing it.", + "Pick the plastic bottle up with the right arm and shake." + ], + "unseen": [ + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode162.json b/shake_bottle/ur5_randomized_500/instructions/episode162.json new file mode 100644 index 0000000000000000000000000000000000000000..517ab2e927d8528b5bbab775296fd4d7d1ec1a6a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode162.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the smooth green bottle using the right arm and shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Shake the green bottle with indented base after grabbing it.", + "Pick up the bottle with narrow top and shake it well.", + "Hold the medium green bottle, shake it briefly.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Grab the bottle with ridges near base carefully and shake.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the smooth green bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Shake the the handheld green bottle properly after lifting.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the medium-sized green bottle and move it to shake.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Pick the medium green bottle up with the right arm and shake.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Grasp the medium green bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Catch the smooth green bottle and shake it instantly.", + "Grab and shake the plastic bottle using the right arm.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Hold the plastic bottle and shake it properly.", + "Shake the medium green bottle firmly after grabbing.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Pick the green bottle with indented base and perform shaking motion.", + "Hold and shake the the bottle with white printed label carefully.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Shake the smooth green bottle after lifting it.", + "Lift the plastic bottle with the right arm and shake.", + "Lift the medium green bottle with the right arm and shake it.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab the bottle with white printed label and shake it steadily.", + "Pick up the medium green bottle and shake it.", + "Hold the green bottle with indented base steady, then shake it.", + "Lift the medium-sized green bottle and shake it gently.", + "Grab the green bottle with indented base and give it a shake.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Grip the plastic bottle using the right arm and shake.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Shake the bottle with narrow top after grabbing it.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Hold the medium green bottle, shake it briefly.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Secure the plastic bottle and perform a shake.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grab the medium-sized green bottle carefully and shake.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Shake the medium green bottle after grabbing it.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the handheld green bottle after holding it firmly.", + "Shake the the green bottle with indented base properly after lifting.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the bottle with white printed label and move it to shake.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Use the right arm to lift and shake the smooth green bottle.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Catch the green bottle with indented base and shake it instantly.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the smooth green bottle.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Hold the bottle with rounded neck and shake it properly.", + "Shake the bottle with narrow top firmly after grabbing.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Hold and shake the the medium green bottle carefully.", + "Grab the bottle with white printed label using the right arm, then shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Lift the handheld green bottle with the right arm and shake.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Grab the smooth green bottle and shake it steadily.", + "Pick up the medium green bottle with capped neck and shake it.", + "Hold the medium-sized green bottle steady, then shake it.", + "Lift the medium green bottle and shake it gently.", + "Grab the bottle with rounded neck and give it a shake.", + "Grab the bottle with narrow top with the right arm and shake." + ], + "unseen": [ + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode163.json b/shake_bottle/ur5_randomized_500/instructions/episode163.json new file mode 100644 index 0000000000000000000000000000000000000000..9272db58adb5eb4570bbbe0543d205fab1bd8089 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode163.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Lift the green bottle with the left arm and give it a shake.", + "Secure the green bottle with black text label and perform a shake.", + "With the left arm, pick the cylindrical bottle with rounded cap and shake properly.", + "Grab the medium bottle with green body using the left arm, then shake.", + "Use the left arm to grab the bottle with yellow cap and shake it.", + "Hold the green bottle with the left arm and shake lightly.", + "Pick the plastic bottle with colored label and perform shaking motion.", + "Pick the medium bottle with green body up using the left arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Grip the green bottle with black text label using the left arm and shake.", + "Hold and shake the the smooth green and yellow bottle carefully.", + "Grasp the cylindrical bottle with rounded cap with the left arm and shake it.", + "Pick up the cylindrical liquid bottle with yellow top and shake it.", + "Shake the the bottle with glossy plastic finish properly after lifting.", + "Lift the green bottle with the left arm and shake it.", + "Grab the bottle with yellow cap and give it a shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Grab the medium bottle with green body firmly, shake it, and put it down.", + "Shake the cylindrical bottle with rounded cap thoroughly after grabbing it.", + "Use the left arm to grab the cylindrical liquid bottle with yellow top and shake properly.", + "Catch the green bottle and shake it instantly.", + "Use the left arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Lift the green bottle with the left arm and shake.", + "Use the left arm to lift and shake the handheld plastic bottle.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Shake the green bottle with white label after lifting it.", + "Pick the green bottle with white label up with the left arm and shake.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the handheld plastic bottle after grabbing it.", + "Grab and shake the smooth green and yellow bottle using the left arm.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Grab the medium bottle with green body and shake it steadily.", + "Hold the medium bottle with green body, shake it briefly.", + "Hold the green bottle with black text label and shake it properly.", + "Shake the cylindrical liquid bottle with yellow top after holding it firmly.", + "Secure the cylindrical liquid bottle with yellow top, shake it, and place it down.", + "Use the left arm to pick and shake the cylindrical liquid bottle with yellow top.", + "Take the handheld plastic bottle using the left arm and give it a shake.", + "Grab the bottle with glossy plastic finish and move it to shake.", + "Grab the handheld plastic bottle with the left arm and shake.", + "Shake the cylindrical liquid bottle with yellow top firmly after grabbing.", + "Lift the green bottle and shake it gently.", + "Hold the handheld plastic bottle steady, then shake it.", + "Using the left arm, shake the bottle with glossy plastic finish and then place it back.", + "Shake the cylindrical bottle with rounded cap using the left arm after grabbing.", + "Use the left arm to hold the plastic bottle with colored label and shake it.", + "Pick the cylindrical bottle with rounded cap, shake it with the left arm.", + "Utilize the left arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Lift up the bottle with yellow cap using the left arm, then shake.", + "Lift the medium bottle with green body and shake it thoroughly.", + "Lift the handheld plastic bottle with the left arm and give it a shake.", + "Secure the cylindrical liquid bottle with yellow top and perform a shake.", + "With the left arm, pick the green bottle and shake properly.", + "Grab the medium bottle with green body using the left arm, then shake.", + "Use the left arm to grab the plastic bottle with colored label and shake it.", + "Hold the cylindrical liquid bottle with yellow top with the left arm and shake lightly.", + "Pick the green bottle and perform shaking motion.", + "Pick the bottle with glossy plastic finish up using the left arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Grip the plastic bottle using the left arm and shake.", + "Hold and shake the the green bottle with black text label carefully.", + "Grasp the cylindrical liquid bottle with yellow top with the left arm and shake it.", + "Pick up the plastic bottle with colored label and shake it.", + "Shake the the medium bottle with green body properly after lifting.", + "Lift the cylindrical liquid bottle with yellow top with the left arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Pick up the plastic bottle and shake it well.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the handheld plastic bottle thoroughly after grabbing it.", + "Use the left arm to grab the handheld plastic bottle and shake properly.", + "Catch the green bottle with white label and shake it instantly.", + "Use the left arm to lift and shake the cylindrical bottle with rounded cap.", + "Lift the green bottle with black text label with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to lift and shake the smooth green and yellow bottle.", + "Shake the green bottle with black text label after lifting it.", + "Pick the green bottle with white label up with the left arm and shake.", + "Shake the handheld plastic bottle after grabbing it.", + "Shake the green bottle with white label after grabbing it.", + "Grab and shake the smooth green and yellow bottle using the left arm.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Grab the plastic bottle and shake it steadily.", + "Hold the green bottle with black text label, shake it briefly.", + "Hold the green bottle and shake it properly.", + "Shake the bottle with yellow cap after holding it firmly.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Use the left arm to pick and shake the bottle with glossy plastic finish.", + "Take the cylindrical bottle with rounded cap using the left arm and give it a shake.", + "Grab the bottle with glossy plastic finish and move it to shake.", + "Grab the cylindrical liquid bottle with yellow top with the left arm and shake.", + "Shake the plastic bottle with colored label firmly after grabbing.", + "Lift the plastic bottle with colored label and shake it gently.", + "Hold the bottle with yellow cap steady, then shake it.", + "Using the left arm, shake the smooth green and yellow bottle and then place it back.", + "Shake the plastic bottle using the left arm after grabbing.", + "Use the left arm to hold the bottle with yellow cap and shake it.", + "Pick the green bottle with white label, shake it with the left arm.", + "Utilize the left arm to hold the plastic bottle with colored label and shake it.", + "Lift up the medium bottle with green body using the left arm, then shake." + ], + "unseen": [ + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Grab the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Grab the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Grab the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode164.json b/shake_bottle/ur5_randomized_500/instructions/episode164.json new file mode 100644 index 0000000000000000000000000000000000000000..d87eb9f5f474e37c0f29c31e09c1b9993709a039 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode164.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld brown bottle with white lid, shake it briefly.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Shake the medium bottle with smooth texture after lifting it.", + "Grab and shake the plastic bottle with printed label using the right arm.", + "Hold and shake the the plastic bottle with printed label carefully.", + "Grab the white-capped brown cylindrical bottle with the right arm and shake.", + "Grab the bottle with dark brown color and move it to shake.", + "Lift the handheld brown bottle with white lid with the right arm and shake.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Use the right arm to grab the bottle with brown body and white top and shake properly.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Take the medium plastic bottle using the right arm and give it a shake.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Hold the rounded bottle with printed details with the right arm and shake lightly.", + "Use the right arm to pick and shake the plastic bottle with printed label.", + "Grab the medium plastic bottle carefully and shake.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "Lift up the plastic bottle with printed label using the right arm, then shake.", + "Lift the medium plastic bottle with the right arm and shake it.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Pick the bottle with dark brown color up using the right arm and shake it.", + "Pick the cylindrical bottle with narrow neck, shake it with the right arm.", + "Grab the cylindrical bottle with narrow neck using the right arm, then shake.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Shake the bottle with dark brown color after grabbing it.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Use the right arm to hold the rounded bottle with printed details and shake it.", + "Shake the smooth brown bottle after grabbing it.", + "Secure the bottle with white cap, shake it, and place it down.", + "Shake the bottle with brown body and white top using the right arm after grabbing.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Utilize the right arm to hold the medium plastic bottle and shake it.", + "Grasp the bottle with dark brown color with the right arm and shake it.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Grip the bottle with brown body and white top using the right arm and shake.", + "Hold the plastic bottle for liquids and shake it properly.", + "Shake the rounded bottle with printed details after grabbing it.", + "Lift the medium plastic bottle with the right arm and give it a shake.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Pick the rounded bottle with printed details up with the right arm and shake.", + "Shake the bottle with white cap after holding it firmly.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the rounded bottle with printed details and shake it.", + "Use the right arm to lift and shake the bottle with dark brown color.", + "Use the right arm to grab the smooth brown bottle and shake it.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Shake the bottle with brown body and white top after lifting it.", + "Grab and shake the white-capped brown cylindrical bottle using the right arm.", + "Hold and shake the the rounded bottle with printed details carefully.", + "Grab the plastic bottle for liquids with the right arm and shake.", + "Grab the white-capped brown cylindrical bottle and move it to shake.", + "Lift the bottle with dark brown color with the right arm and shake.", + "Shake the the handheld brown bottle with white lid properly after lifting.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Lift the bottle with brown body and white top and shake it gently.", + "Take the plastic bottle with printed label using the right arm and give it a shake.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Hold the plastic bottle with printed label with the right arm and shake lightly.", + "Use the right arm to pick and shake the rounded bottle with printed details.", + "Grab the plastic bottle with printed label carefully and shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Lift up the smooth brown bottle using the right arm, then shake.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake it.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Grab the bottle with brown body and white top firmly, shake it, and put it down.", + "Pick the bottle with white cap up using the right arm and shake it.", + "Pick the smooth brown bottle, shake it with the right arm.", + "Grab the white-capped brown cylindrical bottle using the right arm, then shake.", + "Secure the cylindrical bottle with narrow neck and perform a shake.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Lift the medium plastic bottle and shake it thoroughly.", + "With the right arm, pick the bottle with brown body and white top and shake properly.", + "Shake the bottle with white cap after grabbing it.", + "Using the right arm, shake the bottle with dark brown color and then place it back.", + "Use the right arm to hold the rounded bottle with printed details and shake it.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Shake the smooth brown bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Utilize the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Grasp the medium plastic bottle with the right arm and shake it.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Grip the cylindrical bottle with narrow neck using the right arm and shake.", + "Hold the bottle with dark brown color and shake it properly.", + "Shake the plastic bottle for liquids after grabbing it.", + "Lift the white-capped brown cylindrical bottle with the right arm and give it a shake.", + "Catch the smooth brown bottle and shake it instantly.", + "Pick the rounded bottle with printed details up with the right arm and shake.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Grab the bottle with dark brown color and give it a shake.", + "Pick up the plastic bottle for liquids and shake it.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Use the right arm to grab the smooth brown bottle and shake it." + ], + "unseen": [ + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode165.json b/shake_bottle/ur5_randomized_500/instructions/episode165.json new file mode 100644 index 0000000000000000000000000000000000000000..413b02c95f45027c21171e1fbde384c3b709c58b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode165.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the gray bottle with slight shine and give it a shake.", + "Hold the medium cylinder-shaped bottle with the left arm and shake lightly.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Pick up the medium cylinder-shaped bottle and shake it.", + "Pick up the smooth surface bottle with gray shade and shake it well.", + "Grab the plastic bottle with ghost print and shake it steadily.", + "Secure the rounded body bottle made of plastic, shake it, and place it down.", + "Secure the hand-sized bottle with screw cap and perform a shake.", + "Shake the gray bottle with slight shine using the left arm after grabbing.", + "Grasp the rounded body bottle made of plastic with the left arm and shake it.", + "Use the left arm to grab the medium cylinder-shaped bottle and shake properly.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Grab the medium-sized plastic bottle and move it to shake.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Shake the medium cylinder-shaped bottle thoroughly after grabbing it.", + "Lift up the bottle shaped like small cylinder using the left arm, then shake.", + "Lift the smooth cylindrical bottle with the left arm and shake.", + "Grab the bottle with cute ghost drawing carefully and shake.", + "Lift the rounded body bottle made of plastic and shake it thoroughly.", + "Utilize the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Pick the gray bottle with slight shine up using the left arm and shake it.", + "Use the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Grab and shake the medium cylinder-shaped bottle using the left arm.", + "Hold and shake the the bottle with cute ghost drawing carefully.", + "Take the bottle with cute ghost drawing using the left arm and give it a shake.", + "Use the left arm to pick and shake the plastic bottle with ghost print.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Using the left arm, shake the rounded body bottle made of plastic and then place it back.", + "Hold the hand-sized bottle with screw cap and shake it properly.", + "Pick the gray bottle with slight shine up with the left arm and shake.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "With the left arm, pick the bottle shaped like small cylinder and shake properly.", + "Grab the light gray colored container bottle firmly, shake it, and put it down.", + "Pick the milk-bottle shape design and perform shaking motion.", + "Grip the bottle with cute ghost drawing using the left arm and shake.", + "Catch the rounded body bottle made of plastic and shake it instantly.", + "Pick the bottle with cute ghost drawing, shake it with the left arm.", + "Shake the plastic bottle with ghost print after lifting it.", + "Shake the hand-sized bottle with screw cap firmly after grabbing.", + "Grab the medium cylinder-shaped bottle using the left arm, then shake.", + "Lift the light gray colored container bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Lift the smooth cylindrical bottle with the left arm and shake it.", + "Use the left arm to grab the medium cylinder-shaped bottle and shake it.", + "Shake the gray bottle with slight shine after holding it firmly.", + "Shake the light gray colored container bottle after grabbing it.", + "Lift the gray bottle with slight shine and shake it gently.", + "Shake the the medium-sized plastic bottle properly after lifting.", + "Grab the light gray colored container bottle with the left arm and shake.", + "Grab the bottle shaped like small cylinder and give it a shake.", + "Hold the plastic bottle with ghost print with the left arm and shake lightly.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Pick up the medium-sized plastic bottle and shake it.", + "Pick up the medium-sized plastic bottle and shake it well.", + "Grab the bottle shaped like small cylinder and shake it steadily.", + "Secure the medium cylinder-shaped bottle, shake it, and place it down.", + "Secure the light gray colored container bottle and perform a shake.", + "Shake the bottle with cute ghost drawing using the left arm after grabbing.", + "Grasp the hand-sized bottle with screw cap with the left arm and shake it.", + "Use the left arm to grab the bottle with cute ghost drawing and shake properly.", + "Shake the smooth cylindrical bottle after grabbing it.", + "Grab the hand-sized bottle with screw cap and move it to shake.", + "Hold the light gray colored container bottle, shake it briefly.", + "Shake the milk-bottle shape design thoroughly after grabbing it.", + "Lift up the hand-sized bottle with screw cap using the left arm, then shake.", + "Lift the medium-sized plastic bottle with the left arm and shake.", + "Grab the gray bottle with slight shine carefully and shake.", + "Lift the plastic bottle with ghost print and shake it thoroughly.", + "Utilize the left arm to hold the light gray colored container bottle and shake it.", + "Use the left arm to lift and shake the milk-bottle shape design.", + "Pick the bottle with cute ghost drawing up using the left arm and shake it.", + "Use the left arm to hold the hand-sized bottle with screw cap and shake it.", + "Grab and shake the light gray colored container bottle using the left arm.", + "Hold and shake the the smooth surface bottle with gray shade carefully.", + "Take the smooth surface bottle with gray shade using the left arm and give it a shake.", + "Use the left arm to pick and shake the smooth surface bottle with gray shade.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Using the left arm, shake the bottle with cute ghost drawing and then place it back.", + "Hold the hand-sized bottle with screw cap and shake it properly.", + "Pick the gray bottle with slight shine up with the left arm and shake.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "With the left arm, pick the rounded body bottle made of plastic and shake properly.", + "Grab the medium-sized plastic bottle firmly, shake it, and put it down.", + "Pick the rounded body bottle made of plastic and perform shaking motion.", + "Grip the medium cylinder-shaped bottle using the left arm and shake.", + "Catch the milk-bottle shape design and shake it instantly.", + "Pick the light gray colored container bottle, shake it with the left arm.", + "Shake the smooth cylindrical bottle after lifting it.", + "Shake the hand-sized bottle with screw cap firmly after grabbing.", + "Grab the milk-bottle shape design using the left arm, then shake.", + "Lift the bottle with cute ghost drawing with the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Lift the smooth cylindrical bottle with the left arm and shake it.", + "Use the left arm to grab the smooth surface bottle with gray shade and shake it.", + "Shake the medium-sized plastic bottle after holding it firmly.", + "Shake the plastic bottle with ghost print after grabbing it.", + "Lift the rounded body bottle made of plastic and shake it gently.", + "Shake the the rounded body bottle made of plastic properly after lifting.", + "Grab the smooth cylindrical bottle with the left arm and shake." + ], + "unseen": [ + "Use the left arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode166.json b/shake_bottle/ur5_randomized_500/instructions/episode166.json new file mode 100644 index 0000000000000000000000000000000000000000..19b070290cc6de85fac481c14bc88cd1ade3f742 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode166.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic bottle and shake it properly.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Use the left arm to pick and shake the smooth bottle with rounded edges.", + "Use the left arm to hold the plastic bottle and shake it.", + "Shake the bottle with green and white labels after grabbing it.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Lift the bottle with green label with the left arm and shake.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Lift the medium rectangular yellow bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Shake the rectangular bottle with cylindrical neck using the left arm after grabbing.", + "Grab and shake the yellow bottle using the left arm.", + "Grab the rectangular bottle with cylindrical neck with the left arm and shake.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Grab the medium rectangular yellow bottle using the left arm, then shake.", + "Pick up the yellow container with rounded edges and shake it well.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Shake the plastic bottle after lifting it.", + "Secure the yellow bottle with a green design and perform a shake.", + "Pick the smooth bottle with rounded edges, shake it with the left arm.", + "Grab the bottle with white cap and move it to shake.", + "Secure the bottle with green label, shake it, and place it down.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.", + "Pick the yellow plastic bottle with white top up with the left arm and shake.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Lift the yellow bottle and shake it gently.", + "Pick up the medium rectangular yellow bottle and shake it.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Shake the bottle with white cap after holding it firmly.", + "Lift up the medium rectangular yellow bottle using the left arm, then shake.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Take the yellow container with rounded edges using the left arm and give it a shake.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Grip the yellow plastic bottle with white top using the left arm and shake.", + "Pick the bottle with a smooth plastic body and perform shaking motion.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Hold and shake the the bottle with white cap carefully.", + "Hold the yellow container with rounded edges and shake it properly.", + "Use the left arm to grab the yellow bottle with a green design and shake it.", + "Grab the yellow bottle and give it a shake.", + "Use the left arm to pick and shake the smooth bottle with rounded edges.", + "Use the left arm to hold the yellow bottle with a green design and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the plastic bottle and shake it steadily.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Shake the yellow bottle using the left arm after grabbing.", + "Grab and shake the yellow container with rounded edges using the left arm.", + "Grab the medium rectangular yellow bottle with the left arm and shake.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Grab the yellow bottle with a green design using the left arm, then shake.", + "Pick up the bottle with green and white labels and shake it well.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Secure the bottle with white cap and perform a shake.", + "Pick the bottle with a smooth plastic body, shake it with the left arm.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Grab the yellow bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the yellow bottle up with the left arm and shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Utilize the left arm to hold the medium rectangular yellow bottle and shake it.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Catch the bottle with white cap and shake it instantly.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "Pick up the bottle with green and white labels and shake it.", + "With the left arm, pick the yellow plastic bottle with white top and shake properly.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Hold the yellow container with rounded edges with the left arm and shake lightly.", + "Hold the bottle with green and white labels steady, then shake it.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Use the left arm to grab the smooth bottle with rounded edges and shake properly.", + "Grip the plastic bottle using the left arm and shake.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Using the left arm, shake the bottle with green label and then place it back.", + "Hold and shake the the plastic bottle carefully." + ], + "unseen": [ + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode167.json b/shake_bottle/ur5_randomized_500/instructions/episode167.json new file mode 100644 index 0000000000000000000000000000000000000000..06364c63bc67d190804670cbecd74baabe21ddee --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode167.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the plastic bottle with colorful label using the left arm, then shake.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Lift the bottle with blue and yellow print with the left arm and give it a shake.", + "Grab and shake the yellow-capped cylindrical bottle using the left arm.", + "Hold the yellow-capped cylindrical bottle, shake it briefly.", + "Grip the black bottle using the left arm and shake.", + "Catch the yellow capped drink bottle and shake it instantly.", + "Use the left arm to lift and shake the medium bottle with yellow cap.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Lift the medium black bottle with printed label and shake it gently.", + "Pick the drink bottle with rounded yellow lid, shake it with the left arm.", + "Shake the medium bottle with yellow cap thoroughly after grabbing it.", + "Lift the yellow capped drink bottle with the left arm and shake.", + "Pick the black bottle up using the left arm and shake it.", + "Grab the beverage bottle with black body using the left arm, then shake.", + "Hold and shake the the medium black bottle with printed label carefully.", + "Lift the black cylindrical bottle with ridges and shake it thoroughly.", + "Grab the yellow capped drink bottle and move it to shake.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Grab the drink bottle with rounded yellow lid carefully and shake.", + "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Pick the beverage bottle with black body and perform shaking motion.", + "Pick the yellow-capped cylindrical bottle up with the left arm and shake.", + "Shake the smooth black bottle with ridges after lifting it.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Lift the plastic bottle with colorful label with the left arm and shake it.", + "Use the left arm to hold the medium black bottle with printed label and shake it.", + "With the left arm, pick the bottle with blue and yellow print and shake properly.", + "Use the left arm to lift and shake the medium bottle with yellow cap.", + "Use the left arm to grab the black bottle and shake properly.", + "Secure the black plastic bottle with Pepsi logo and perform a shake.", + "Grab the beverage bottle with black body with the left arm and shake.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Grab the black cylindrical bottle with ridges and shake it steadily.", + "Utilize the left arm to hold the bottle with blue and yellow print and shake it.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Use the left arm to grab the black plastic bottle with Pepsi logo and shake it.", + "Hold the medium black bottle with printed label with the left arm and shake lightly.", + "Shake the medium bottle with yellow cap after holding it firmly.", + "Take the medium bottle with yellow cap using the left arm and give it a shake.", + "Pick up the medium bottle with yellow cap and shake it.", + "Using the left arm, shake the yellow capped drink bottle and then place it back.", + "Grasp the black plastic bottle with Pepsi logo with the left arm and shake it.", + "Use the left arm to pick and shake the yellow capped drink bottle.", + "Shake the beverage bottle with black body using the left arm after grabbing.", + "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.", + "Grab the black plastic bottle with Pepsi logo and give it a shake.", + "Hold the bottle with blue and yellow print steady, then shake it.", + "Pick up the medium bottle with yellow cap and shake it well.", + "Lift up the plastic bottle with colorful label using the left arm, then shake.", + "Shake the black cylindrical bottle with ridges firmly after grabbing.", + "Lift the medium bottle with yellow cap with the left arm and give it a shake.", + "Grab and shake the medium bottle with yellow cap using the left arm.", + "Hold the yellow-capped cylindrical bottle, shake it briefly.", + "Grip the plastic bottle with colorful label using the left arm and shake.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Lift the yellow-capped cylindrical bottle and shake it gently.", + "Pick the yellow capped drink bottle, shake it with the left arm.", + "Shake the beverage bottle with black body thoroughly after grabbing it.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake.", + "Pick the medium bottle with yellow cap up using the left arm and shake it.", + "Grab the smooth black bottle with ridges using the left arm, then shake.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Lift the black cylindrical bottle with ridges and shake it thoroughly.", + "Grab the black bottle and move it to shake.", + "Shake the medium black bottle with printed label after grabbing it.", + "Grab the medium bottle with yellow cap carefully and shake.", + "Secure the medium bottle with yellow cap, shake it, and place it down.", + "Shake the the yellow capped drink bottle properly after lifting.", + "Pick the black bottle and perform shaking motion.", + "Pick the black cylindrical bottle with ridges up with the left arm and shake.", + "Shake the yellow-capped cylindrical bottle after lifting it.", + "Hold the bottle with blue and yellow print and shake it properly.", + "Lift the black cylindrical bottle with ridges with the left arm and shake it.", + "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "With the left arm, pick the medium black bottle with printed label and shake properly.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Use the left arm to grab the black cylindrical bottle with ridges and shake properly.", + "Secure the plastic bottle with colorful label and perform a shake.", + "Grab the smooth black bottle with ridges with the left arm and shake.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Grab the black bottle and shake it steadily.", + "Utilize the left arm to hold the medium black bottle with printed label and shake it.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Use the left arm to grab the medium black bottle with printed label and shake it.", + "Hold the smooth black bottle with ridges with the left arm and shake lightly.", + "Shake the medium bottle with yellow cap after holding it firmly.", + "Take the black plastic bottle with Pepsi logo using the left arm and give it a shake.", + "Pick up the bottle with blue and yellow print and shake it.", + "Using the left arm, shake the medium bottle with yellow cap and then place it back.", + "Grasp the beverage bottle with black body with the left arm and shake it.", + "Use the left arm to pick and shake the yellow-capped cylindrical bottle.", + "Shake the yellow-capped cylindrical bottle using the left arm after grabbing.", + "Grab the black bottle firmly, shake it, and put it down.", + "Grab the yellow capped drink bottle and give it a shake.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Pick up the drink bottle with rounded yellow lid and shake it well." + ], + "unseen": [ + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode168.json b/shake_bottle/ur5_randomized_500/instructions/episode168.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d598559a2926ce54e85aac3bccb69f1c69d124 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode168.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the bottle with rounded neck.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the bottle with ridges near base carefully and shake.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Use the right arm to lift and shake the medium green bottle.", + "Grip the plastic bottle using the right arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Shake the medium green bottle after lifting it.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Secure the green bottle with indented base and perform a shake.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Take the medium green bottle using the right arm and give it a shake.", + "Catch the medium-sized green bottle and shake it instantly.", + "Grab and shake the handheld green bottle using the right arm.", + "Shake the the medium green bottle properly after lifting.", + "Shake the handheld green bottle after grabbing it.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Pick up the smooth green bottle and shake it well.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Grab the bottle with narrow top and shake it steadily.", + "Lift the bottle with ridges near base and shake it gently.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Hold and shake the the bottle with white printed label carefully.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Pick up the smooth green bottle and shake it.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Shake the medium green bottle firmly after grabbing.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Grab the green bottle with indented base and move it to shake.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Hold the bottle with rounded neck and shake it properly.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Hold the bottle with ridges near base, shake it briefly.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the smooth green bottle carefully and shake.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Lift the handheld green bottle with the right arm and shake it.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Lift the handheld green bottle and shake it thoroughly.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the bottle with ridges near base after lifting it.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Grab the green bottle with indented base and give it a shake.", + "Secure the handheld green bottle and perform a shake.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Catch the smooth green bottle and shake it instantly.", + "Grab and shake the smooth green bottle using the right arm.", + "Shake the the green bottle with indented base properly after lifting.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the bottle with rounded neck steady, then shake it.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Shake the smooth green bottle after holding it firmly.", + "Pick up the plastic bottle and shake it well.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Grab the bottle with narrow top and shake it steadily.", + "Lift the medium green bottle and shake it gently.", + "Pick the bottle with white printed label and perform shaking motion.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Pick up the plastic bottle and shake it.", + "Grab the bottle with narrow top with the right arm and shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Use the right arm to hold the medium green bottle and shake it.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Utilize the right arm to hold the bottle with white printed label and shake it." + ], + "unseen": [ + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode169.json b/shake_bottle/ur5_randomized_500/instructions/episode169.json new file mode 100644 index 0000000000000000000000000000000000000000..1971737a87689b7619787ed4649884bf5e3cd5f9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode169.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grab and shake the plastic bottle using the left arm.", + "Shake the bottle with ridges near base after lifting it.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the green bottle with indented base and shake it steadily.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Pick up the plastic bottle and shake it well.", + "Hold the handheld green bottle and shake it properly.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Catch the plastic bottle and shake it instantly.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Secure the bottle with ridges near base and perform a shake.", + "Grab the green bottle with indented base and give it a shake.", + "Hold the bottle with narrow top, shake it briefly.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the plastic bottle and shake it gently.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Lift the green bottle with indented base with the left arm and shake.", + "Shake the the smooth green bottle properly after lifting.", + "Pick the plastic bottle up with the left arm and shake.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Grip the plastic bottle using the left arm and shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to lift and shake the medium green bottle.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Grab the green bottle with indented base and move it to shake.", + "Grab the green bottle with indented base with the left arm and shake.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Shake the green bottle with indented base after grabbing it.", + "Pick up the green bottle with indented base and shake it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grab the handheld green bottle carefully and shake.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Shake the bottle with rounded neck after lifting it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Grab the bottle with ridges near base and shake it steadily.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Pick up the bottle with ridges near base and shake it well.", + "Hold the medium green bottle and shake it properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Catch the bottle with white printed label and shake it instantly.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Secure the medium green bottle and perform a shake.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Shake the smooth green bottle after grabbing it.", + "Lift the plastic bottle and shake it gently.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Shake the the medium-sized green bottle properly after lifting.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Grip the bottle with narrow top using the left arm and shake.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Hold and shake the the bottle with ridges near base carefully.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Grab the medium-sized green bottle and move it to shake.", + "Grab the bottle with white printed label with the left arm and shake.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Pick up the smooth green plastic bottle and shake it.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Grab the smooth green plastic bottle carefully and shake." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode17.json b/shake_bottle/ur5_randomized_500/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..458c3248f363daa473cfe883837ee640ebf65928 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Take the yellow bottle using the left arm and give it a shake.", + "Lift the plastic bottle with the left arm and shake.", + "Pick the yellow container with rounded edges up with the left arm and shake.", + "Lift the yellow bottle with a green design and shake it gently.", + "Use the left arm to grab the bottle with green and white labels and shake properly.", + "Hold the yellow bottle with a green design with the left arm and shake lightly.", + "Catch the plastic bottle and shake it instantly.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Shake the bottle with green label after grabbing it.", + "Shake the bottle with white cap after lifting it.", + "Use the left arm to hold the smooth bottle with rounded edges and shake it.", + "Secure the bottle with green and white labels and perform a shake.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Pick up the yellow container with rounded edges and shake it well.", + "Grab and shake the yellow bottle with a green design using the left arm.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Grab the bottle with white cap with the left arm and shake.", + "Grasp the medium rectangular yellow bottle with the left arm and shake it.", + "Pick up the bottle with green label and shake it.", + "Using the left arm, shake the smooth bottle with rounded edges and then place it back.", + "Shake the the smooth bottle with rounded edges properly after lifting.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "With the left arm, pick the yellow plastic bottle with white top and shake properly.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Lift the medium rectangular yellow bottle with the left arm and shake it.", + "Pick the yellow bottle, shake it with the left arm.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Shake the yellow bottle after holding it firmly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick the bottle with green and white labels and perform shaking motion.", + "Pick the bottle with green label up using the left arm and shake it.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Hold the bottle with white cap steady, then shake it.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Grab the bottle with green and white labels using the left arm, then shake.", + "Shake the bottle with green and white labels using the left arm after grabbing.", + "Hold the smooth bottle with rounded edges and shake it properly.", + "Grab the bottle with white cap and give it a shake.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Grab the bottle with green label carefully and shake.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Grip the bottle with white cap using the left arm and shake.", + "Use the left arm to grab the bottle with a smooth plastic body and shake it.", + "Take the yellow bottle using the left arm and give it a shake.", + "Lift the bottle with green label with the left arm and shake.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Lift the bottle with green label and shake it gently.", + "Use the left arm to grab the yellow container with rounded edges and shake properly.", + "Hold the bottle with green label with the left arm and shake lightly.", + "Catch the bottle with green label and shake it instantly.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Shake the yellow container with rounded edges after grabbing it.", + "Shake the bottle with white cap after lifting it.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Secure the bottle with white cap and perform a shake.", + "Grab the yellow bottle with a green design and move it to shake.", + "Pick up the yellow bottle and shake it well.", + "Grab and shake the bottle with white cap using the left arm.", + "Lift the yellow bottle with a green design with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Grab the smooth bottle with rounded edges with the left arm and shake.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Pick up the plastic bottle and shake it.", + "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Secure the yellow plastic bottle with white top, shake it, and place it down.", + "Use the left arm to pick and shake the yellow plastic bottle with white top.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Shake the yellow bottle firmly after grabbing.", + "Utilize the left arm to hold the yellow plastic bottle with white top and shake it.", + "Hold and shake the the bottle with green label carefully.", + "Lift the bottle with green and white labels with the left arm and shake it.", + "Pick the bottle with green and white labels, shake it with the left arm.", + "Grab the plastic bottle and shake it steadily.", + "Shake the bottle with white cap after holding it firmly.", + "Shake the yellow container with rounded edges thoroughly after grabbing it.", + "Pick the medium rectangular yellow bottle and perform shaking motion.", + "Pick the bottle with green label up using the left arm and shake it.", + "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Grab the smooth bottle with rounded edges using the left arm, then shake.", + "Shake the smooth bottle with rounded edges using the left arm after grabbing.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Hold the bottle with green and white labels, shake it briefly.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle with green and white labels carefully and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Lift the bottle with green and white labels and shake it thoroughly.", + "Grip the bottle with white cap using the left arm and shake." + ], + "unseen": [ + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode170.json b/shake_bottle/ur5_randomized_500/instructions/episode170.json new file mode 100644 index 0000000000000000000000000000000000000000..2d81ab29e843a2d5b2f5555f7d3bd94137e95827 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode170.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the brown bottle after grabbing it.", + "Grab the bottle with flat sides and logo and give it a shake.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Secure the bottle with green cap, shake it, and place it down.", + "Lift up the brown bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Using the left arm, shake the rectangular brown body with white top and then place it back.", + "Pick up the rectangular brown body with white top and shake it well.", + "Shake the brown bottle after lifting it.", + "Lift the brown bottle with rounded rectangular shape and shake it thoroughly.", + "Use the left arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Hold the smooth plastic bottle with white cap, shake it briefly.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Shake the smooth brown bottle with green label after grabbing it.", + "With the left arm, pick the rectangular-shaped bottle with round cap and shake properly.", + "Pick the smooth brown bottle with green label, shake it with the left arm.", + "Lift the dark brown bottle with a squared body with the left arm and shake.", + "Take the medium-sized brown plastic bottle using the left arm and give it a shake.", + "Lift the smooth plastic bottle with white cap and shake it gently.", + "Pick the plastic bottle up with the left arm and shake.", + "Grasp the rectangular brown body with white top with the left arm and shake it.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Shake the plastic bottle after holding it firmly.", + "Grab and shake the smooth plastic bottle with white cap using the left arm.", + "Lift the rectangular brown body with white top with the left arm and shake it.", + "Use the left arm to grab the medium bottle with glossy surface and shake properly.", + "Grab the bottle with green cap with the left arm and shake.", + "Pick the smooth brown bottle with green label and perform shaking motion.", + "Use the left arm to lift and shake the brown bottle.", + "Utilize the left arm to hold the medium-sized brown plastic bottle and shake it.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Lift the bottle with flat sides and logo with the left arm and give it a shake.", + "Use the left arm to grab the bottle with flat sides and logo and shake it.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down.", + "Shake the smooth brown bottle with green label using the left arm after grabbing.", + "Use the left arm to lift and shake the brown bottle.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Grab the bottle with green cap and shake it steadily.", + "Grab the bottle with flat sides and logo using the left arm, then shake.", + "Shake the plastic bottle firmly after grabbing.", + "Hold the rectangular brown body with white top with the left arm and shake lightly.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "Grab the smooth plastic bottle with white cap carefully and shake.", + "Secure the plastic bottle and perform a shake.", + "Use the left arm to pick and shake the dark brown bottle with a squared body.", + "Grip the medium-sized brown plastic bottle using the left arm and shake.", + "Pick up the plastic bottle and shake it.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Pick the smooth plastic bottle with white cap up using the left arm and shake it.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Grab the medium-sized brown plastic bottle and give it a shake.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "Secure the rectangular brown body with white top, shake it, and place it down.", + "Lift up the rectangular brown body with white top using the left arm, then shake.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Using the left arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Pick up the medium-sized brown plastic bottle and shake it well.", + "Shake the plastic bottle after lifting it.", + "Lift the brown bottle and shake it thoroughly.", + "Use the left arm to hold the brown bottle and shake it.", + "Hold the brown bottle, shake it briefly.", + "Shake the the brown bottle with rounded rectangular shape properly after lifting.", + "Shake the bottle with flat sides and logo after grabbing it.", + "With the left arm, pick the rectangular brown body with white top and shake properly.", + "Pick the smooth plastic bottle with white cap, shake it with the left arm.", + "Lift the brown bottle with rounded rectangular shape with the left arm and shake.", + "Take the brown bottle using the left arm and give it a shake.", + "Lift the rectangular-shaped bottle with round cap and shake it gently.", + "Pick the medium bottle with glossy surface up with the left arm and shake.", + "Grasp the bottle with flat sides and logo with the left arm and shake it.", + "Shake the rectangular-shaped bottle with round cap thoroughly after grabbing it.", + "Shake the medium-sized brown plastic bottle after holding it firmly.", + "Grab and shake the bottle with flat sides and logo using the left arm.", + "Lift the plastic bottle with the left arm and shake it.", + "Use the left arm to grab the smooth plastic bottle with white cap and shake properly.", + "Grab the bottle with flat sides and logo with the left arm and shake.", + "Pick the rectangular brown body with white top and perform shaking motion.", + "Use the left arm to lift and shake the brown bottle.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold the medium-sized brown plastic bottle steady, then shake it.", + "Lift the bottle with flat sides and logo with the left arm and give it a shake.", + "Use the left arm to grab the bottle with green cap and shake it.", + "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.", + "Shake the medium-sized brown plastic bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Hold and shake the the medium-sized brown plastic bottle carefully.", + "Grab the brown bottle and shake it steadily.", + "Grab the bottle with flat sides and logo using the left arm, then shake.", + "Shake the rectangular-shaped bottle with round cap firmly after grabbing.", + "Hold the smooth plastic bottle with white cap with the left arm and shake lightly.", + "Hold the brown bottle and shake it properly.", + "Grab the smooth brown bottle with green label carefully and shake.", + "Secure the smooth brown bottle with green label and perform a shake.", + "Use the left arm to pick and shake the dark brown bottle with a squared body.", + "Grip the bottle with flat sides and logo using the left arm and shake.", + "Pick up the bottle with flat sides and logo and shake it.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Pick the rectangular-shaped bottle with round cap up using the left arm and shake it." + ], + "unseen": [ + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode171.json b/shake_bottle/ur5_randomized_500/instructions/episode171.json new file mode 100644 index 0000000000000000000000000000000000000000..49b034bf01207a763488f4c6af265f006715550f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode171.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the rounded bottle with printed details and perform a shake.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grab the medium plastic bottle with the left arm and shake.", + "Hold the smooth brown bottle steady, then shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "With the left arm, pick the handheld brown bottle with white lid and shake properly.", + "Grab the bottle with brown body and white top carefully and shake.", + "Grasp the rounded bottle with printed details with the left arm and shake it.", + "Lift the cylindrical bottle with narrow neck with the left arm and give it a shake.", + "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.", + "Use the left arm to hold the rounded bottle with printed details and shake it.", + "Shake the the rounded bottle with printed details properly after lifting.", + "Lift the plastic bottle with printed label with the left arm and shake.", + "Shake the medium bottle with smooth texture using the left arm after grabbing.", + "Lift the medium plastic bottle with the left arm and shake it.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Use the left arm to pick and shake the cylindrical bottle with narrow neck.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Hold and shake the the cylindrical bottle with narrow neck carefully.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Catch the bottle with dark brown color and shake it instantly.", + "Lift the plastic bottle with printed label and shake it gently.", + "Lift up the bottle with brown body and white top using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Pick the plastic bottle with printed label up with the left arm and shake.", + "Hold the bottle with dark brown color with the left arm and shake lightly.", + "Hold the smooth brown bottle, shake it briefly.", + "Pick the bottle with brown body and white top and perform shaking motion.", + "Pick the plastic bottle for liquids up using the left arm and shake it.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Grab the bottle with white cap using the left arm, then shake.", + "Utilize the left arm to hold the cylindrical bottle with narrow neck and shake it.", + "Secure the bottle with brown body and white top, shake it, and place it down.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Pick the medium plastic bottle, shake it with the left arm.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "Use the left arm to grab the bottle with white cap and shake it.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Pick up the medium plastic bottle and shake it.", + "Grab and shake the bottle with dark brown color using the left arm.", + "Shake the rounded bottle with printed details after lifting it.", + "Using the left arm, shake the plastic bottle with printed label and then place it back.", + "Shake the plastic bottle with printed label after holding it firmly.", + "Secure the plastic bottle with printed label and perform a shake.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "Grab the plastic bottle for liquids with the left arm and shake.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Shake the bottle with white cap after grabbing it.", + "With the left arm, pick the medium plastic bottle and shake properly.", + "Grab the bottle with white cap carefully and shake.", + "Grasp the medium bottle with smooth texture with the left arm and shake it.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake.", + "Shake the white-capped brown cylindrical bottle using the left arm after grabbing.", + "Lift the bottle with brown body and white top with the left arm and shake it.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Use the left arm to pick and shake the smooth brown bottle.", + "Grab the plastic bottle for liquids firmly, shake it, and put it down.", + "Use the left arm to grab the bottle with brown body and white top and shake properly.", + "Pick up the smooth brown bottle and shake it well.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Shake the smooth brown bottle firmly after grabbing.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Lift the plastic bottle for liquids and shake it gently.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Pick the white-capped brown cylindrical bottle up with the left arm and shake.", + "Hold the plastic bottle with printed label with the left arm and shake lightly.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Pick the plastic bottle for liquids up using the left arm and shake it.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grab the plastic bottle for liquids and give it a shake.", + "Grab the handheld brown bottle with white lid using the left arm, then shake.", + "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Secure the smooth brown bottle, shake it, and place it down.", + "Shake the handheld brown bottle with white lid thoroughly after grabbing it.", + "Grab the rounded bottle with printed details and move it to shake.", + "Pick the smooth brown bottle, shake it with the left arm.", + "Grip the cylindrical bottle with narrow neck using the left arm and shake.", + "Use the left arm to grab the medium bottle with smooth texture and shake it.", + "Shake the smooth brown bottle after grabbing it.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Pick up the cylindrical bottle with narrow neck and shake it.", + "Grab and shake the handheld brown bottle with white lid using the left arm.", + "Shake the bottle with white cap after lifting it.", + "Using the left arm, shake the bottle with brown body and white top and then place it back.", + "Shake the bottle with white cap after holding it firmly." + ], + "unseen": [ + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode172.json b/shake_bottle/ur5_randomized_500/instructions/episode172.json new file mode 100644 index 0000000000000000000000000000000000000000..57edc99ed11e59849faaaff0c7df640807f91e29 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode172.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium dark brown bottle and shake it well.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Hold the brown bottle with red label and shake it properly.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Hold and shake the the red-capped bottle carefully.", + "Grab the plastic drink bottle with the right arm and shake.", + "Grab the long thin bottle and give it a shake.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Shake the long thin bottle after grabbing it.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the red-capped bottle after grabbing it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Pick the long thin bottle up using the right arm and shake it.", + "Grab the long thin bottle using the right arm, then shake.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the the narrow-necked bottle properly after lifting.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Shake the long thin bottle after holding it firmly.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the hand-sized soda bottle and shake it gently.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Pick up the bottle with white neck and red top and shake it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Shake the Coca-Cola bottle after lifting it.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Shake the brown bottle with red label firmly after grabbing.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Lift the red-capped bottle with the right arm and shake it.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick up the long thin bottle and shake it well.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Hold the dark drink bottle with logo and shake it properly.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Lift the long thin bottle and shake it thoroughly.", + "Pick the long thin bottle up using the right arm and shake it.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab the Coca-Cola bottle carefully and shake.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Shake the medium dark brown bottle after holding it firmly.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the dark drink bottle with logo and shake it gently.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Pick up the bottle with white neck and red top and shake it.", + "Secure the long thin bottle and perform a shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab and shake the smooth bottle with red lid using the right arm.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Grab the Coca-Cola bottle and move it to shake." + ], + "unseen": [ + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode173.json b/shake_bottle/ur5_randomized_500/instructions/episode173.json new file mode 100644 index 0000000000000000000000000000000000000000..ce074f63315baebb446681dd2ea8a5bc99a1ae66 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode173.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the medium-sized orange bottle with the right arm and shake it.", + "Shake the bottle with narrow neck after grabbing it.", + "Grab and shake the orange bottle using the right arm.", + "Shake the orange cylindrical bottle after grabbing it.", + "Use the right arm to lift and shake the orange bottle.", + "Shake the yellow-capped plastic bottle thoroughly after grabbing it.", + "Pick up the smooth plastic bottle and shake it.", + "Hold the bottle with printed label, shake it briefly.", + "Secure the bottle with narrow neck and perform a shake.", + "Take the plastic bottle with sealed yellow cap using the right arm and give it a shake.", + "Hold the bottle for liquids with the right arm and shake lightly.", + "Lift the bottle for liquids with the right arm and shake.", + "Shake the the bottle with printed label properly after lifting.", + "Catch the plastic bottle and shake it instantly.", + "Grab the yellow-capped plastic bottle and shake it steadily.", + "Hold the orange bottle steady, then shake it.", + "Grip the cylindrical orange bottle with yellow top using the right arm and shake.", + "Use the right arm to hold the bottle with yellow cap and shake it.", + "Using the right arm, shake the orange cylindrical bottle and then place it back.", + "With the right arm, pick the plastic bottle and shake properly.", + "Lift up the plastic bottle using the right arm, then shake.", + "Pick the yellow-capped plastic bottle up with the right arm and shake.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Grab the orange cylindrical bottle using the right arm, then shake.", + "Hold the cylindrical orange bottle with yellow top and shake it properly.", + "Grab the bottle with narrow neck and move it to shake.", + "Shake the smooth plastic bottle after lifting it.", + "Lift the smooth plastic bottle and shake it gently.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Use the right arm to grab the bottle with narrow neck and shake properly.", + "Use the right arm to pick and shake the medium-sized orange bottle.", + "Lift the medium-sized orange bottle with the right arm and give it a shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Shake the bottle with yellow cap using the right arm after grabbing.", + "Secure the bottle with narrow neck, shake it, and place it down.", + "Pick the orange bottle and perform shaking motion.", + "Shake the bottle for liquids firmly after grabbing.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Pick the plastic bottle, shake it with the right arm.", + "Pick the orange bottle up using the right arm and shake it.", + "Lift the orange bottle with the right arm and shake it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Grab the bottle with narrow neck with the right arm and shake.", + "Hold and shake the the bottle with printed label carefully.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the smooth plastic bottle and give it a shake.", + "Grab the smooth plastic bottle carefully and shake.", + "Utilize the right arm to hold the bottle with narrow neck and shake it.", + "Grasp the yellow-capped plastic bottle with the right arm and shake it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Pick up the plastic bottle and shake it.", + "Hold the bottle with narrow neck, shake it briefly.", + "Secure the orange bottle and perform a shake.", + "Take the cylindrical orange bottle with yellow top using the right arm and give it a shake.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake.", + "Shake the the orange bottle properly after lifting.", + "Catch the orange bottle and shake it instantly.", + "Grab the yellow-capped plastic bottle and shake it steadily.", + "Hold the bottle for liquids steady, then shake it.", + "Grip the bottle with yellow cap using the right arm and shake.", + "Use the right arm to hold the orange cylindrical bottle and shake it.", + "Using the right arm, shake the bottle with printed label and then place it back.", + "With the right arm, pick the orange bottle and shake properly.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Pick the bottle with printed label up with the right arm and shake.", + "Shake the bottle with printed label after holding it firmly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Use the right arm to grab the bottle for liquids and shake it.", + "Grab the bottle for liquids using the right arm, then shake.", + "Hold the bottle for liquids and shake it properly.", + "Grab the bottle for liquids and move it to shake.", + "Shake the plastic bottle after lifting it.", + "Lift the orange cylindrical bottle and shake it gently.", + "Lift the bottle with printed label and shake it thoroughly.", + "Use the right arm to grab the bottle with printed label and shake properly.", + "Use the right arm to pick and shake the orange bottle.", + "Lift the orange cylindrical bottle with the right arm and give it a shake.", + "Pick up the orange cylindrical bottle and shake it well.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Secure the orange bottle, shake it, and place it down.", + "Pick the bottle with printed label and perform shaking motion.", + "Shake the medium-sized orange bottle firmly after grabbing.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the plastic bottle, shake it with the right arm.", + "Pick the orange bottle up using the right arm and shake it.", + "Lift the bottle with yellow cap with the right arm and shake it.", + "Shake the bottle for liquids after grabbing it.", + "Grab the orange cylindrical bottle with the right arm and shake.", + "Hold and shake the the orange bottle carefully.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Grab the yellow-capped plastic bottle and give it a shake.", + "Grab the bottle with printed label carefully and shake.", + "Utilize the right arm to hold the plastic bottle and shake it." + ], + "unseen": [ + "Grab the handheld orange bottle and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode174.json b/shake_bottle/ur5_randomized_500/instructions/episode174.json new file mode 100644 index 0000000000000000000000000000000000000000..4b74f0e45f3e066cc23fe7cea40792ef5ba3500e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode174.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Lift the orange drink bottle with label and shake it gently.", + "Shake the bottle for holding drinks after grabbing it.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Use the left arm to hold the medium bottle with colorful label and shake it.", + "Catch the grooved orange drink bottle and shake it instantly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Pick the orange drink bottle with label and perform shaking motion.", + "Shake the smooth orange bottle after lifting it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick up the cylindrical orange plastic bottle and shake it.", + "Shake the orange bottle after holding it firmly.", + "Grab the orange drink bottle with label and move it to shake.", + "Lift the cylindrical orange plastic bottle with the left arm and shake.", + "Hold and shake the the curved orange soda bottle carefully.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Shake the plastic bottle using the left arm after grabbing.", + "Grab the bottle for holding drinks and give it a shake.", + "Using the left arm, shake the light and medium-sized bottle and then place it back.", + "Pick the round-bottom bottle with white cap, shake it with the left arm.", + "Shake the the bottle for holding drinks properly after lifting.", + "Shake the bottle for holding drinks after grabbing it.", + "Pick the bottle for holding drinks up using the left arm and shake it.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Take the ridged orange bottle with grooves using the left arm and give it a shake.", + "Grab and shake the smooth orange bottle using the left arm.", + "Lift the bottle for holding drinks with the left arm and give it a shake.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Grab the smooth orange bottle using the left arm, then shake.", + "Pick the curved orange soda bottle up with the left arm and shake.", + "Grip the round-bottom bottle with white cap using the left arm and shake.", + "Grab the smooth orange bottle with the left arm and shake.", + "Lift the orange bottle and shake it thoroughly.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Use the left arm to pick and shake the orange drink bottle with label.", + "Lift the medium bottle with colorful label with the left arm and shake it.", + "Use the left arm to grab the ridged orange bottle with grooves and shake it.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Grasp the smooth orange bottle with the left arm and shake it.", + "Shake the grooved orange drink bottle after grabbing it.", + "Pick up the smooth orange bottle and shake it well.", + "Hold the orange bottle, shake it briefly.", + "Grab the orange bottle and shake it steadily.", + "Utilize the left arm to hold the orange drink bottle with label and shake it.", + "Hold the cylindrical orange plastic bottle with the left arm and shake lightly.", + "Hold the grooved orange drink bottle and shake it properly.", + "Use the left arm to grab the orange drink bottle with label and shake properly.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Grab the plastic bottle carefully and shake.", + "Lift up the orange bottle using the left arm, then shake.", + "Lift the smooth orange bottle and shake it gently.", + "Shake the smooth orange bottle after grabbing it.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Use the left arm to hold the orange drink bottle with label and shake it.", + "Catch the grooved orange drink bottle and shake it instantly.", + "With the left arm, pick the grooved orange drink bottle and shake properly.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the light and medium-sized bottle after lifting it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick up the orange bottle and shake it.", + "Shake the round-bottom bottle with white cap after holding it firmly.", + "Grab the ridged orange bottle with grooves and move it to shake.", + "Lift the orange bottle with the left arm and shake.", + "Hold and shake the the bottle for holding drinks carefully.", + "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.", + "Shake the orange bottle firmly after grabbing.", + "Shake the orange bottle using the left arm after grabbing.", + "Grab the grooved orange drink bottle and give it a shake.", + "Using the left arm, shake the orange bottle and then place it back.", + "Pick the smooth orange bottle, shake it with the left arm.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Shake the plastic bottle after grabbing it.", + "Pick the orange drink bottle with label up using the left arm and shake it.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Take the orange drink bottle with label using the left arm and give it a shake.", + "Grab and shake the bottle for holding drinks using the left arm.", + "Lift the bottle for holding drinks with the left arm and give it a shake.", + "Secure the bottle for holding drinks and perform a shake.", + "Grab the ridged orange bottle with grooves using the left arm, then shake.", + "Pick the bottle for holding drinks up with the left arm and shake.", + "Grip the medium bottle with colorful label using the left arm and shake.", + "Grab the curved orange soda bottle with the left arm and shake.", + "Lift the orange bottle and shake it thoroughly.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Use the left arm to pick and shake the curved orange soda bottle.", + "Lift the medium bottle with colorful label with the left arm and shake it.", + "Use the left arm to grab the light and medium-sized bottle and shake it.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Grasp the smooth orange bottle with the left arm and shake it.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Pick up the grooved orange drink bottle and shake it well.", + "Hold the light and medium-sized bottle, shake it briefly.", + "Grab the smooth orange bottle and shake it steadily.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Hold the light and medium-sized bottle with the left arm and shake lightly.", + "Hold the cylindrical orange plastic bottle and shake it properly.", + "Use the left arm to grab the smooth orange bottle and shake properly.", + "Hold the round-bottom bottle with white cap steady, then shake it." + ], + "unseen": [ + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode175.json b/shake_bottle/ur5_randomized_500/instructions/episode175.json new file mode 100644 index 0000000000000000000000000000000000000000..10964842a980c4683e3a7348cdd782c78ddfe9ac --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode175.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the orange bottle and shake it properly.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Lift up the medium bottle with orange lid using the left arm, then shake.", + "Lift the yellow label bottle and shake it thoroughly.", + "Pick the medium orange bottle and perform shaking motion.", + "Lift the orange bottle with the left arm and shake.", + "Grab and shake the drinking bottle with yellow label using the left arm.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Pick up the medium bottle with orange lid and shake it.", + "Secure the white and orange plastic bottle, shake it, and place it down.", + "Grab the medium orange bottle with the left arm and shake.", + "Lift the orange and white bottle with cap with the left arm and shake it.", + "Pick the medium bottle with orange lid up using the left arm and shake it.", + "Shake the bottle with orange cap after grabbing it.", + "Grab the orange and white bottle with cap carefully and shake.", + "Grab the white and orange plastic bottle and give it a shake.", + "Secure the medium orange bottle and perform a shake.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Use the left arm to pick and shake the orange bottle.", + "Shake the bottle with orange cap firmly after grabbing.", + "Hold and shake the the plastic bottle carefully.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to lift and shake the yellow label bottle.", + "Pick the medium bottle with orange lid up with the left arm and shake.", + "Catch the white and orange plastic bottle and shake it instantly.", + "Hold the medium bottle with orange lid, shake it briefly.", + "Hold the medium orange bottle with the left arm and shake lightly.", + "Pick the bottle with ribbed orange bottom, shake it with the left arm.", + "Use the left arm to grab the cylindrical orange and white bottle and shake it.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Pick up the white and orange plastic bottle and shake it well.", + "Shake the orange bottle thoroughly after grabbing it.", + "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.", + "Grip the cylindrical orange and white bottle using the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the bottle with ribbed orange bottom using the left arm after grabbing.", + "Lift the bottle with orange cap and shake it gently.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Grab the medium orange bottle using the left arm, then shake.", + "Use the left arm to hold the orange and white bottle with cap and shake it.", + "Shake the yellow label bottle after grabbing it.", + "Take the cylindrical orange and white bottle using the left arm and give it a shake.", + "Shake the drinking bottle with yellow label after holding it firmly.", + "Shake the yellow label bottle after lifting it.", + "Grab the orange bottle and shake it steadily.", + "Use the left arm to lift and shake the cylindrical orange and white bottle.", + "Hold the smooth plastic bottle steady, then shake it.", + "Grasp the yellow label bottle with the left arm and shake it.", + "With the left arm, pick the cylindrical orange and white bottle and shake properly.", + "Grab the medium orange bottle and move it to shake.", + "Hold the bottle with ribbed orange bottom and shake it properly.", + "Use the left arm to grab the bottle with ribbed orange bottom and shake properly.", + "Lift up the medium orange bottle using the left arm, then shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick the cylindrical orange and white bottle and perform shaking motion.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Grab and shake the medium orange bottle using the left arm.", + "Shake the plastic bottle after grabbing it.", + "Pick up the yellow label bottle and shake it.", + "Secure the medium orange bottle, shake it, and place it down.", + "Grab the cylindrical orange and white bottle with the left arm and shake.", + "Lift the bottle with orange cap with the left arm and shake it.", + "Pick the medium orange bottle up using the left arm and shake it.", + "Shake the orange and white bottle with cap after grabbing it.", + "Grab the bottle with ribbed orange bottom carefully and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Use the left arm to pick and shake the drinking bottle with yellow label.", + "Shake the medium bottle with orange lid firmly after grabbing.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Shake the the orange and white bottle with cap properly after lifting.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Pick the bottle with ribbed orange bottom up with the left arm and shake.", + "Catch the cylindrical orange and white bottle and shake it instantly.", + "Hold the orange and white bottle with cap, shake it briefly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Pick the medium orange bottle, shake it with the left arm.", + "Use the left arm to grab the plastic bottle and shake it.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Pick up the orange bottle and shake it well.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Lift the cylindrical orange and white bottle with the left arm and give it a shake.", + "Grip the white and orange plastic bottle using the left arm and shake.", + "Utilize the left arm to hold the white and orange plastic bottle and shake it.", + "Shake the cylindrical orange and white bottle using the left arm after grabbing.", + "Lift the drinking bottle with yellow label and shake it gently.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Grab the drinking bottle with yellow label using the left arm, then shake.", + "Use the left arm to hold the medium orange bottle and shake it.", + "Shake the medium orange bottle after grabbing it.", + "Take the orange bottle using the left arm and give it a shake.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Shake the bottle with orange cap after lifting it.", + "Grab the bottle with orange cap and shake it steadily.", + "Use the left arm to lift and shake the cylindrical orange and white bottle.", + "Hold the orange and white bottle with cap steady, then shake it.", + "Grasp the medium bottle with orange lid with the left arm and shake it.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Grab the bottle with ribbed orange bottom and move it to shake." + ], + "unseen": [ + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to pick the bottle with curved body.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode176.json b/shake_bottle/ur5_randomized_500/instructions/episode176.json new file mode 100644 index 0000000000000000000000000000000000000000..6279626d349168dd8efbee7056cd4c82091df05d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode176.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the dark drink bottle with logo using the right arm and shake.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Hold the hand-sized soda bottle, shake it briefly.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Shake the long thin bottle firmly after grabbing.", + "Hold and shake the the narrow-necked bottle carefully.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Pick up the smooth bottle with red lid and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the red-capped bottle after grabbing it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Grab and shake the plastic drink bottle using the right arm.", + "Grab the long thin bottle and shake it steadily.", + "Grab the red-capped bottle with the right arm and shake.", + "Shake the medium dark brown bottle after holding it firmly.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Lift the dark drink bottle with logo and shake it gently.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Hold the plastic drink bottle and shake it properly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grab the plastic drink bottle and move it to shake.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Secure the brown bottle with red label and perform a shake.", + "Shake the narrow-necked bottle after lifting it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "With the right arm, pick the long thin bottle and shake properly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Hold and shake the the medium dark brown bottle carefully.", + "Shake the brown bottle with red label after grabbing it.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick up the long thin bottle and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Use the right arm to hold the long thin bottle and shake it.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Grab the red-capped bottle and shake it steadily.", + "Grab the brown bottle with red label with the right arm and shake.", + "Shake the long thin bottle after holding it firmly.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Lift the brown bottle with red label and shake it gently.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Lift the plastic drink bottle with the right arm and give it a shake.", + "Shake the the plastic drink bottle properly after lifting.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Hold the plastic drink bottle and shake it properly.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grab the narrow-necked bottle and move it to shake.", + "Lift the long thin bottle with the right arm and shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Secure the dark drink bottle with logo and perform a shake.", + "Shake the bottle with white neck and red top after lifting it.", + "Use the right arm to lift and shake the narrow-necked bottle." + ], + "unseen": [ + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode177.json b/shake_bottle/ur5_randomized_500/instructions/episode177.json new file mode 100644 index 0000000000000000000000000000000000000000..c2dd2cacda7299368aa7fcc4d4935892b66e468a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode177.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle for liquids.", + "Hold the plastic bottle steady, then shake it.", + "Shake the white and blue bottle after grabbing it.", + "Hold the medium bottle for beverages and shake it properly.", + "Lift the medium-sized bottle with the left arm and shake.", + "Shake the white and blue bottle using the left arm after grabbing.", + "Lift the cylindrical bottle with the left arm and shake it.", + "Hold the medium bottle for beverages, shake it briefly.", + "Utilize the left arm to hold the bottle with blue cap and shake it.", + "Grip the medium bottle for beverages using the left arm and shake.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Catch the white and blue bottle and shake it instantly.", + "Pick the white and blue bottle, shake it with the left arm.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Lift the white bottle with blue accents and shake it gently.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick the blue bottle with label up with the left arm and shake.", + "Lift up the blue bottle with label using the left arm, then shake.", + "Grab the blue bottle with label and shake it steadily.", + "Secure the handheld bottle and perform a shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Shake the handheld bottle after lifting it.", + "Grab the bottle with blue cap and give it a shake.", + "Use the left arm to grab the medium bottle for beverages and shake it.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the the smooth plastic bottle properly after lifting.", + "Grab the plastic bottle carefully and shake.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "With the left arm, pick the white bottle with blue accents and shake properly.", + "Shake the white bottle with blue accents after holding it firmly.", + "Grab the bottle with blue cap using the left arm, then shake.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Pick up the medium bottle for beverages and shake it.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Lift the white bottle with blue accents and shake it thoroughly.", + "Secure the white and blue bottle, shake it, and place it down.", + "Hold and shake the the medium-sized bottle carefully.", + "Use the left arm to lift and shake the bottle for liquids.", + "Shake the bottle with blue cap after grabbing it.", + "Use the left arm to grab the medium bottle for beverages and shake properly.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grab and shake the blue bottle using the left arm.", + "Take the bottle with blue cap using the left arm and give it a shake.", + "Use the left arm to hold the blue bottle with label and shake it.", + "Pick up the medium bottle for beverages and shake it well.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Lift the blue bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Hold the medium bottle for beverages steady, then shake it.", + "Shake the handheld bottle after grabbing it.", + "Hold the handheld bottle and shake it properly.", + "Lift the medium-sized bottle with the left arm and shake.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Lift the handheld bottle with the left arm and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Utilize the left arm to hold the white and blue bottle and shake it.", + "Grip the blue bottle with label using the left arm and shake.", + "Grab the medium bottle for beverages with the left arm and shake.", + "Shake the cylindrical bottle after grabbing it.", + "Shake the white and blue bottle firmly after grabbing.", + "Catch the bottle for liquids and shake it instantly.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Using the left arm, shake the blue bottle with label and then place it back.", + "Lift the medium-sized bottle and shake it gently.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick the cylindrical bottle up with the left arm and shake.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Grab the blue bottle with label and shake it steadily.", + "Secure the bottle with blue cap and perform a shake.", + "Grab the white bottle with blue accents and move it to shake.", + "Shake the cylindrical bottle after lifting it.", + "Grab the blue bottle with label and give it a shake.", + "Use the left arm to grab the blue bottle with label and shake it.", + "Use the left arm to pick and shake the handheld bottle.", + "Shake the the blue bottle with label properly after lifting.", + "Grab the smooth plastic bottle carefully and shake.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "With the left arm, pick the medium bottle for beverages and shake properly.", + "Shake the medium-sized bottle after holding it firmly.", + "Grab the bottle with blue cap using the left arm, then shake.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Pick the bottle with blue cap up using the left arm and shake it.", + "Pick up the smooth plastic bottle and shake it.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Lift the plastic bottle and shake it thoroughly.", + "Secure the white and blue bottle, shake it, and place it down.", + "Hold and shake the the medium bottle for beverages carefully.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Shake the blue bottle with label after grabbing it.", + "Use the left arm to grab the cylindrical bottle and shake properly.", + "Grasp the medium bottle for beverages with the left arm and shake it.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Take the bottle with blue cap using the left arm and give it a shake.", + "Use the left arm to hold the white bottle with blue accents and shake it.", + "Pick up the bottle for liquids and shake it well.", + "Use the left arm to lift and shake the blue bottle.", + "Lift the bottle for liquids with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode178.json b/shake_bottle/ur5_randomized_500/instructions/episode178.json new file mode 100644 index 0000000000000000000000000000000000000000..553e69d8d1345fdd854b2cddd1d726aeaddb630d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode178.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick and shake the brown bottle with rounded rectangular shape.", + "Using the right arm, shake the bottle with flat sides and logo and then place it back.", + "Lift the medium-sized brown plastic bottle and shake it gently.", + "Pick the brown bottle up using the right arm and shake it.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "Shake the dark brown bottle with a squared body after lifting it.", + "With the right arm, pick the medium bottle with glossy surface and shake properly.", + "Grab and shake the rectangular brown body with white top using the right arm.", + "Use the right arm to grab the bottle with flat sides and logo and shake properly.", + "Hold the brown bottle with rounded rectangular shape with the right arm and shake lightly.", + "Use the right arm to lift and shake the smooth brown bottle with green label.", + "Pick the brown bottle, shake it with the right arm.", + "Lift the dark brown bottle with a squared body with the right arm and shake it.", + "Lift up the smooth brown bottle with green label using the right arm, then shake.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Lift the bottle with green cap with the right arm and give it a shake.", + "Grab the brown bottle using the right arm, then shake.", + "Grasp the dark brown bottle with a squared body with the right arm and shake it.", + "Pick the dark brown bottle with a squared body up with the right arm and shake.", + "Pick up the brown bottle and shake it well.", + "Shake the smooth plastic bottle with white cap thoroughly after grabbing it.", + "Hold the smooth brown bottle with green label and shake it properly.", + "Grab the bottle with green cap with the right arm and shake.", + "Shake the rectangular brown body with white top using the right arm after grabbing.", + "Hold and shake the the bottle with green cap carefully.", + "Shake the the dark brown bottle with a squared body properly after lifting.", + "Hold the rectangular brown body with white top steady, then shake it.", + "Grab the dark brown bottle with a squared body and shake it steadily.", + "Use the right arm to lift and shake the bottle with green cap.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Shake the medium-sized brown plastic bottle after holding it firmly.", + "Pick the rectangular-shaped bottle with round cap and perform shaking motion.", + "Secure the smooth plastic bottle with white cap and perform a shake.", + "Grab the medium bottle with glossy surface carefully and shake.", + "Shake the rectangular-shaped bottle with round cap firmly after grabbing.", + "Pick up the smooth plastic bottle with white cap and shake it.", + "Grip the bottle with flat sides and logo using the right arm and shake.", + "Use the right arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Hold the rectangular brown body with white top, shake it briefly.", + "Shake the brown bottle after grabbing it.", + "Utilize the right arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to grab the rectangular brown body with white top and shake it.", + "Catch the rectangular-shaped bottle with round cap and shake it instantly.", + "Take the dark brown bottle with a squared body using the right arm and give it a shake.", + "Secure the medium bottle with glossy surface, shake it, and place it down.", + "Grab the brown bottle and give it a shake.", + "Lift the bottle with green cap and shake it thoroughly.", + "Lift the medium bottle with glossy surface with the right arm and shake.", + "Use the right arm to pick and shake the brown bottle with rounded rectangular shape.", + "Using the right arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Lift the plastic bottle and shake it gently.", + "Pick the dark brown bottle with a squared body up using the right arm and shake it.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "Shake the brown bottle after lifting it.", + "With the right arm, pick the brown bottle with rounded rectangular shape and shake properly.", + "Grab and shake the rectangular-shaped bottle with round cap using the right arm.", + "Use the right arm to grab the dark brown bottle with a squared body and shake properly.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the dark brown bottle with a squared body.", + "Pick the smooth plastic bottle with white cap, shake it with the right arm.", + "Lift the brown bottle with the right arm and shake it.", + "Lift up the medium-sized brown plastic bottle using the right arm, then shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Lift the rectangular brown body with white top with the right arm and give it a shake.", + "Grab the smooth brown bottle with green label using the right arm, then shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Pick the brown bottle with rounded rectangular shape up with the right arm and shake.", + "Pick up the smooth brown bottle with green label and shake it well.", + "Shake the rectangular brown body with white top thoroughly after grabbing it.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Grab the bottle with flat sides and logo with the right arm and shake.", + "Shake the dark brown bottle with a squared body using the right arm after grabbing.", + "Hold and shake the the medium-sized brown plastic bottle carefully.", + "Shake the the rectangular-shaped bottle with round cap properly after lifting.", + "Hold the medium-sized brown plastic bottle steady, then shake it.", + "Grab the rectangular brown body with white top and shake it steadily.", + "Use the right arm to lift and shake the brown bottle.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Shake the plastic bottle after holding it firmly.", + "Pick the bottle with flat sides and logo and perform shaking motion.", + "Secure the bottle with green cap and perform a shake.", + "Grab the smooth brown bottle with green label carefully and shake.", + "Shake the smooth brown bottle with green label firmly after grabbing.", + "Pick up the brown bottle with rounded rectangular shape and shake it.", + "Grip the bottle with flat sides and logo using the right arm and shake.", + "Use the right arm to hold the smooth brown bottle with green label and shake it.", + "Hold the bottle with green cap, shake it briefly.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Utilize the right arm to hold the medium bottle with glossy surface and shake it.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Shake the rectangular brown body with white top after grabbing it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Catch the medium-sized brown plastic bottle and shake it instantly.", + "Take the medium-sized brown plastic bottle using the right arm and give it a shake.", + "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.", + "Grab the brown bottle and give it a shake.", + "Lift the medium-sized brown plastic bottle and shake it thoroughly.", + "Lift the bottle with flat sides and logo with the right arm and shake." + ], + "unseen": [ + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode179.json b/shake_bottle/ur5_randomized_500/instructions/episode179.json new file mode 100644 index 0000000000000000000000000000000000000000..5a1e594f646341522bed817012e4ca52f6d96adc --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode179.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the plastic bottle for liquids using the right arm, then shake.", + "Lift the handheld brown bottle with white lid with the right arm and shake it.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Grab the medium bottle with smooth texture carefully and shake.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Secure the medium plastic bottle and perform a shake.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Shake the smooth brown bottle firmly after grabbing.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Grab the medium plastic bottle and shake it steadily.", + "Catch the medium plastic bottle and shake it instantly.", + "With the right arm, pick the medium bottle with smooth texture and shake properly.", + "Pick up the medium plastic bottle and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Shake the smooth brown bottle after grabbing it.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Hold the bottle with dark brown color with the right arm and shake lightly.", + "Grab the smooth brown bottle with the right arm and shake.", + "Lift the medium plastic bottle with the right arm and give it a shake.", + "Shake the bottle with brown body and white top using the right arm after grabbing.", + "Shake the medium bottle with smooth texture after lifting it.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Use the right arm to pick and shake the bottle with dark brown color.", + "Grab the rounded bottle with printed details and move it to shake.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "Secure the rounded bottle with printed details, shake it, and place it down.", + "Grip the cylindrical bottle with narrow neck using the right arm and shake.", + "Pick the plastic bottle for liquids up with the right arm and shake.", + "Take the bottle with dark brown color using the right arm and give it a shake.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Pick the bottle with dark brown color up using the right arm and shake it.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Use the right arm to lift and shake the plastic bottle for liquids.", + "Utilize the right arm to hold the plastic bottle for liquids and shake it.", + "Hold the bottle with dark brown color steady, then shake it.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Use the right arm to lift and shake the bottle with white cap.", + "Use the right arm to hold the medium plastic bottle and shake it.", + "Pick the medium bottle with smooth texture, shake it with the right arm.", + "Grab and shake the bottle with white cap using the right arm.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Grasp the medium bottle with smooth texture with the right arm and shake it.", + "Lift the bottle with dark brown color and shake it gently.", + "Grab the plastic bottle with printed label using the right arm, then shake.", + "Pick up the plastic bottle with printed label and shake it well.", + "Grab the white-capped brown cylindrical bottle and give it a shake.", + "Lift up the cylindrical bottle with narrow neck using the right arm, then shake.", + "Lift the medium plastic bottle with the right arm and shake it.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Grab the smooth brown bottle carefully and shake.", + "Use the right arm to grab the rounded bottle with printed details and shake it.", + "Secure the handheld brown bottle with white lid and perform a shake.", + "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Lift the plastic bottle for liquids with the right arm and shake.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Grab the handheld brown bottle with white lid and shake it steadily.", + "Catch the white-capped brown cylindrical bottle and shake it instantly.", + "With the right arm, pick the bottle with dark brown color and shake properly.", + "Pick up the bottle with brown body and white top and shake it.", + "Shake the bottle with brown body and white top after grabbing it.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Hold the medium bottle with smooth texture with the right arm and shake lightly.", + "Grab the bottle with dark brown color with the right arm and shake.", + "Lift the medium plastic bottle with the right arm and give it a shake.", + "Shake the rounded bottle with printed details using the right arm after grabbing.", + "Shake the bottle with brown body and white top after lifting it.", + "Shake the the bottle with brown body and white top properly after lifting.", + "Use the right arm to pick and shake the medium bottle with smooth texture.", + "Grab the medium plastic bottle and move it to shake.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Grip the medium plastic bottle using the right arm and shake.", + "Pick the medium plastic bottle up with the right arm and shake.", + "Take the white-capped brown cylindrical bottle using the right arm and give it a shake.", + "Using the right arm, shake the bottle with dark brown color and then place it back.", + "Shake the bottle with brown body and white top after grabbing it.", + "Pick the medium bottle with smooth texture up using the right arm and shake it.", + "Use the right arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Utilize the right arm to hold the handheld brown bottle with white lid and shake it.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Shake the bottle with dark brown color after holding it firmly.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Use the right arm to hold the medium plastic bottle and shake it.", + "Pick the cylindrical bottle with narrow neck, shake it with the right arm.", + "Grab and shake the bottle with dark brown color using the right arm.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Lift the plastic bottle with printed label and shake it gently.", + "Grab the handheld brown bottle with white lid using the right arm, then shake.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Grab the bottle with brown body and white top and give it a shake." + ], + "unseen": [ + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode18.json b/shake_bottle/ur5_randomized_500/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..27bae34c2a39067ee843f2c0338d360e90f8a60d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with white cap and shake it steadily.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Lift the plastic bottle with printed label with the left arm and shake it.", + "Grab the handheld brown bottle with white lid with the left arm and shake.", + "Shake the medium bottle with smooth texture after holding it firmly.", + "Grab the plastic bottle for liquids carefully and shake.", + "Use the left arm to grab the plastic bottle for liquids and shake it.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Shake the plastic bottle with printed label using the left arm after grabbing.", + "Grip the bottle with dark brown color using the left arm and shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Shake the medium plastic bottle firmly after grabbing.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Pick the medium plastic bottle up using the left arm and shake it.", + "Secure the medium plastic bottle, shake it, and place it down.", + "Use the left arm to pick and shake the medium plastic bottle.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Use the left arm to hold the bottle with brown body and white top and shake it.", + "Pick the bottle with brown body and white top up with the left arm and shake.", + "Shake the bottle with brown body and white top after grabbing it.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Take the rounded bottle with printed details using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Secure the bottle with dark brown color and perform a shake.", + "Lift the plastic bottle for liquids with the left arm and give it a shake.", + "Using the left arm, shake the medium bottle with smooth texture and then place it back.", + "Pick up the bottle with brown body and white top and shake it.", + "Grasp the bottle with dark brown color with the left arm and shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Lift the bottle with dark brown color with the left arm and shake.", + "Lift up the handheld brown bottle with white lid using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "With the left arm, pick the medium plastic bottle and shake properly.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Pick the bottle with white cap and perform shaking motion.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Grab the bottle with brown body and white top and move it to shake.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Hold the medium bottle with smooth texture with the left arm and shake lightly.", + "Hold and shake the the cylindrical bottle with narrow neck carefully.", + "Pick the bottle with dark brown color, shake it with the left arm.", + "Hold the bottle with dark brown color and shake it properly.", + "Grab the bottle with brown body and white top and give it a shake.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Shake the handheld brown bottle with white lid thoroughly after grabbing it.", + "Grab the medium bottle with smooth texture using the left arm, then shake.", + "Lift the bottle with dark brown color and shake it gently.", + "Grab and shake the cylindrical bottle with narrow neck using the left arm.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Catch the medium plastic bottle and shake it instantly.", + "Lift the plastic bottle with printed label with the left arm and shake it.", + "Grab the smooth brown bottle with the left arm and shake.", + "Shake the plastic bottle with printed label after holding it firmly.", + "Grab the bottle with dark brown color carefully and shake.", + "Use the left arm to grab the handheld brown bottle with white lid and shake it.", + "Use the left arm to grab the rounded bottle with printed details and shake properly.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Grip the bottle with brown body and white top using the left arm and shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Pick up the plastic bottle with printed label and shake it well.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Pick the cylindrical bottle with narrow neck up using the left arm and shake it.", + "Secure the bottle with dark brown color, shake it, and place it down.", + "Use the left arm to pick and shake the smooth brown bottle.", + "Shake the medium plastic bottle after lifting it.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Pick the white-capped brown cylindrical bottle up with the left arm and shake.", + "Shake the medium plastic bottle after grabbing it.", + "Shake the the bottle with white cap properly after lifting.", + "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Secure the bottle with brown body and white top and perform a shake.", + "Lift the bottle with brown body and white top with the left arm and give it a shake.", + "Using the left arm, shake the plastic bottle with printed label and then place it back.", + "Pick up the smooth brown bottle and shake it.", + "Grasp the bottle with brown body and white top with the left arm and shake it.", + "Shake the bottle with brown body and white top after grabbing it.", + "Utilize the left arm to hold the handheld brown bottle with white lid and shake it.", + "Lift the handheld brown bottle with white lid with the left arm and shake.", + "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "With the left arm, pick the bottle with dark brown color and shake properly.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Hold the plastic bottle with printed label steady, then shake it.", + "Grab the plastic bottle for liquids and move it to shake.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Hold the rounded bottle with printed details with the left arm and shake lightly.", + "Hold and shake the the cylindrical bottle with narrow neck carefully.", + "Pick the handheld brown bottle with white lid, shake it with the left arm.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grab the rounded bottle with printed details and give it a shake.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Grab the white-capped brown cylindrical bottle using the left arm, then shake.", + "Lift the medium plastic bottle and shake it gently.", + "Grab and shake the cylindrical bottle with narrow neck using the left arm." + ], + "unseen": [ + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode180.json b/shake_bottle/ur5_randomized_500/instructions/episode180.json new file mode 100644 index 0000000000000000000000000000000000000000..7d61cb983f7381f5ccccae0281e750bc5dbeec2e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode180.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the blue bottle with the left arm and shake.", + "Pick the blue bottle, shake it with the left arm.", + "Use the left arm to lift and shake the bottle for liquids.", + "Hold the white bottle with blue accents with the left arm and shake lightly.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the blue bottle with label and shake it.", + "Grab the bottle for liquids carefully and shake.", + "Lift the cylindrical bottle and shake it gently.", + "Lift up the white and blue bottle using the left arm, then shake.", + "Take the handheld bottle using the left arm and give it a shake.", + "Hold the medium-sized bottle, shake it briefly.", + "Shake the white and blue bottle using the left arm after grabbing.", + "Secure the bottle with blue cap and perform a shake.", + "Use the left arm to hold the bottle with blue cap and shake it.", + "Use the left arm to pick and shake the bottle with blue cap.", + "Grasp the plastic bottle with the left arm and shake it.", + "Hold the blue bottle and shake it properly.", + "Grab the blue bottle with label with the left arm and shake.", + "Pick up the cylindrical bottle and shake it.", + "Pick the white and blue bottle up with the left arm and shake.", + "Shake the cylindrical bottle after holding it firmly.", + "Hold the bottle for liquids steady, then shake it.", + "Grab the medium-sized bottle and move it to shake.", + "Shake the cylindrical bottle after grabbing it.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Grab the blue bottle and give it a shake.", + "Lift the medium bottle for beverages with the left arm and give it a shake.", + "Pick up the bottle with blue cap and shake it well.", + "Grab and shake the medium bottle for beverages using the left arm.", + "With the left arm, pick the cylindrical bottle and shake properly.", + "Use the left arm to lift and shake the handheld bottle.", + "Shake the white bottle with blue accents thoroughly after grabbing it.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Lift the medium bottle for beverages and shake it thoroughly.", + "Use the left arm to grab the blue bottle with label and shake it.", + "Shake the the white bottle with blue accents properly after lifting.", + "Grab the white and blue bottle using the left arm, then shake.", + "Catch the medium bottle for beverages and shake it instantly.", + "Use the left arm to lift and shake the blue bottle with label.", + "Grip the plastic bottle using the left arm and shake.", + "Shake the medium-sized bottle firmly after grabbing.", + "Grab the bottle for liquids and shake it steadily.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Lift the white and blue bottle with the left arm and shake it.", + "Shake the blue bottle after grabbing it.", + "Pick the white and blue bottle and perform shaking motion.", + "Shake the medium-sized bottle after lifting it.", + "Hold and shake the the medium-sized bottle carefully.", + "Using the left arm, shake the blue bottle with label and then place it back.", + "Lift the medium bottle for beverages with the left arm and shake.", + "Pick the medium bottle for beverages, shake it with the left arm.", + "Use the left arm to lift and shake the handheld bottle.", + "Hold the bottle with blue cap with the left arm and shake lightly.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the medium bottle for beverages and shake it.", + "Grab the cylindrical bottle carefully and shake.", + "Lift the bottle for liquids and shake it gently.", + "Lift up the white bottle with blue accents using the left arm, then shake.", + "Take the white and blue bottle using the left arm and give it a shake.", + "Hold the medium bottle for beverages, shake it briefly.", + "Shake the bottle with blue cap using the left arm after grabbing.", + "Secure the handheld bottle and perform a shake.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Grasp the blue bottle with the left arm and shake it.", + "Hold the white bottle with blue accents and shake it properly.", + "Grab the bottle with blue cap with the left arm and shake.", + "Pick up the white and blue bottle and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Shake the bottle with blue cap after holding it firmly.", + "Hold the handheld bottle steady, then shake it.", + "Grab the bottle for liquids and move it to shake.", + "Shake the blue bottle with label after grabbing it.", + "Secure the cylindrical bottle, shake it, and place it down.", + "Grab the bottle with blue cap and give it a shake.", + "Lift the blue bottle with the left arm and give it a shake.", + "Pick up the bottle with blue cap and shake it well.", + "Grab and shake the cylindrical bottle using the left arm.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Pick the cylindrical bottle up using the left arm and shake it.", + "Lift the bottle with blue cap and shake it thoroughly.", + "Use the left arm to grab the smooth plastic bottle and shake it.", + "Shake the the blue bottle properly after lifting.", + "Grab the handheld bottle using the left arm, then shake.", + "Catch the medium-sized bottle and shake it instantly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Grip the bottle with blue cap using the left arm and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the medium-sized bottle and shake it steadily.", + "Shake the white bottle with blue accents after grabbing it.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Lift the white bottle with blue accents with the left arm and shake it.", + "Shake the bottle with blue cap after grabbing it.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Shake the white and blue bottle after lifting it.", + "Hold and shake the the blue bottle carefully.", + "Using the left arm, shake the blue bottle with label and then place it back." + ], + "unseen": [ + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode181.json b/shake_bottle/ur5_randomized_500/instructions/episode181.json new file mode 100644 index 0000000000000000000000000000000000000000..e68fe2a6dbd1df1cd854c97ea56184489b90cbce --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode181.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the medium rectangular yellow bottle and shake it.", + "Secure the bottle with green and white labels and perform a shake.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Grab the bottle with green label and shake it steadily.", + "Hold the smooth bottle with rounded edges steady, then shake it.", + "Grab the yellow container with rounded edges using the left arm, then shake.", + "Use the left arm to pick and shake the rectangular bottle with cylindrical neck.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Grab the bottle with green label with the left arm and shake.", + "Shake the yellow container with rounded edges after lifting it.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Pick up the medium rectangular yellow bottle and shake it well.", + "Using the left arm, shake the smooth bottle with rounded edges and then place it back.", + "Grab the plastic bottle carefully and shake.", + "Shake the rectangular bottle with cylindrical neck using the left arm after grabbing.", + "Utilize the left arm to hold the medium rectangular yellow bottle and shake it.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Lift the yellow bottle and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with green label.", + "Use the left arm to hold the plastic bottle and shake it.", + "Lift up the yellow container with rounded edges using the left arm, then shake.", + "Grip the medium rectangular yellow bottle using the left arm and shake.", + "Hold and shake the the smooth bottle with rounded edges carefully.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Grab the bottle with white cap and give it a shake.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Shake the plastic bottle after grabbing it.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Pick the bottle with white cap, shake it with the left arm.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Lift the medium rectangular yellow bottle with the left arm and shake.", + "Pick up the smooth bottle with rounded edges and shake it.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Pick the bottle with green label up with the left arm and shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Catch the plastic bottle and shake it instantly.", + "Shake the plastic bottle after grabbing it.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Grab and shake the medium rectangular yellow bottle using the left arm.", + "Pick the smooth bottle with rounded edges up using the left arm and shake it.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Shake the bottle with green label after holding it firmly.", + "Take the bottle with green and white labels using the left arm and give it a shake.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Secure the bottle with a smooth plastic body and perform a shake.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Grab the yellow bottle using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Secure the bottle with white cap, shake it, and place it down.", + "Grab the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after lifting it.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Pick up the bottle with white cap and shake it well.", + "Using the left arm, shake the bottle with green and white labels and then place it back.", + "Grab the bottle with green and white labels carefully and shake.", + "Shake the bottle with green label using the left arm after grabbing.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Use the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Lift up the yellow plastic bottle with white top using the left arm, then shake.", + "Grip the bottle with green and white labels using the left arm and shake.", + "Hold and shake the the bottle with green and white labels carefully.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Hold the bottle with green and white labels and shake it properly.", + "Use the left arm to grab the smooth bottle with rounded edges and shake properly.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Lift the medium rectangular yellow bottle and shake it gently.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Lift the rectangular bottle with cylindrical neck with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Shake the yellow bottle after grabbing it.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Lift the bottle with green label with the left arm and shake.", + "Pick up the yellow bottle and shake it.", + "Shake the the rectangular bottle with cylindrical neck properly after lifting.", + "Hold the bottle with green and white labels, shake it briefly.", + "Pick the yellow bottle up with the left arm and shake.", + "Hold the bottle with a smooth plastic body with the left arm and shake lightly.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Grasp the bottle with a smooth plastic body with the left arm and shake it.", + "Grab and shake the yellow bottle with a green design using the left arm.", + "Pick the yellow container with rounded edges up using the left arm and shake it.", + "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.", + "Shake the bottle with a smooth plastic body after holding it firmly.", + "Take the yellow container with rounded edges using the left arm and give it a shake." + ], + "unseen": [ + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode182.json b/shake_bottle/ur5_randomized_500/instructions/episode182.json new file mode 100644 index 0000000000000000000000000000000000000000..9060bc9db0a61072f104cad3539f4348f27a9e68 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode182.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the smooth cylindrical bottle.", + "Grab the plastic bottle with ghost print and give it a shake.", + "Pick up the milk-bottle shape design and shake it well.", + "Hold and shake the the bottle with cute ghost drawing carefully.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Take the plastic bottle with ghost print using the right arm and give it a shake.", + "Shake the milk-bottle shape design after grabbing it.", + "Lift the plastic bottle with ghost print with the right arm and shake it.", + "Hold the bottle with cute ghost drawing with the right arm and shake lightly.", + "Shake the gray bottle with slight shine using the right arm after grabbing.", + "Grab the bottle with cute ghost drawing and move it to shake.", + "Use the right arm to pick and shake the smooth surface bottle with gray shade.", + "Hold the medium-sized plastic bottle and shake it properly.", + "Shake the bottle with cute ghost drawing firmly after grabbing.", + "Hold the smooth surface bottle with gray shade steady, then shake it.", + "Using the right arm, shake the milk-bottle shape design and then place it back.", + "Grab the medium-sized plastic bottle firmly, shake it, and put it down.", + "Hold the medium cylinder-shaped bottle, shake it briefly.", + "Grab the rounded body bottle made of plastic using the right arm, then shake.", + "Lift up the smooth cylindrical bottle using the right arm, then shake.", + "Lift the medium cylinder-shaped bottle with the right arm and shake.", + "Secure the hand-sized bottle with screw cap and perform a shake.", + "Use the right arm to grab the medium-sized plastic bottle and shake properly.", + "Use the right arm to grab the light gray colored container bottle and shake it.", + "Use the right arm to lift and shake the bottle shaped like small cylinder.", + "Use the right arm to hold the smooth surface bottle with gray shade and shake it.", + "Shake the milk-bottle shape design after grabbing it.", + "Grip the milk-bottle shape design using the right arm and shake.", + "Grab and shake the plastic bottle with ghost print using the right arm.", + "Shake the the smooth cylindrical bottle properly after lifting.", + "Pick up the medium-sized plastic bottle and shake it.", + "Utilize the right arm to hold the medium-sized plastic bottle and shake it.", + "Lift the light gray colored container bottle and shake it gently.", + "Grasp the gray bottle with slight shine with the right arm and shake it.", + "Shake the hand-sized bottle with screw cap after holding it firmly.", + "Pick the medium cylinder-shaped bottle up with the right arm and shake.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Shake the gray bottle with slight shine after lifting it.", + "Lift the medium cylinder-shaped bottle and shake it thoroughly.", + "Grab the rounded body bottle made of plastic with the right arm and shake.", + "Grab the smooth cylindrical bottle and shake it steadily.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "With the right arm, pick the bottle with cute ghost drawing and shake properly.", + "Lift the hand-sized bottle with screw cap with the right arm and give it a shake.", + "Pick the milk-bottle shape design, shake it with the right arm.", + "Secure the milk-bottle shape design, shake it, and place it down.", + "Pick the medium-sized plastic bottle and perform shaking motion.", + "Pick the milk-bottle shape design up using the right arm and shake it.", + "Shake the plastic bottle with ghost print thoroughly after grabbing it.", + "Use the right arm to lift and shake the hand-sized bottle with screw cap.", + "Use the right arm to lift and shake the plastic bottle with ghost print.", + "Grab the medium-sized plastic bottle and give it a shake.", + "Pick up the smooth surface bottle with gray shade and shake it well.", + "Hold and shake the the plastic bottle with ghost print carefully.", + "Catch the smooth surface bottle with gray shade and shake it instantly.", + "Take the plastic bottle with ghost print using the right arm and give it a shake.", + "Shake the plastic bottle with ghost print after grabbing it.", + "Lift the smooth surface bottle with gray shade with the right arm and shake it.", + "Hold the milk-bottle shape design with the right arm and shake lightly.", + "Shake the smooth cylindrical bottle using the right arm after grabbing.", + "Grab the plastic bottle with ghost print and move it to shake.", + "Use the right arm to pick and shake the smooth cylindrical bottle.", + "Hold the smooth surface bottle with gray shade and shake it properly.", + "Shake the light gray colored container bottle firmly after grabbing.", + "Hold the medium-sized plastic bottle steady, then shake it.", + "Using the right arm, shake the hand-sized bottle with screw cap and then place it back.", + "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.", + "Hold the rounded body bottle made of plastic, shake it briefly.", + "Grab the gray bottle with slight shine using the right arm, then shake.", + "Lift up the plastic bottle with ghost print using the right arm, then shake.", + "Lift the medium-sized plastic bottle with the right arm and shake.", + "Secure the medium cylinder-shaped bottle and perform a shake.", + "Use the right arm to grab the medium-sized plastic bottle and shake properly.", + "Use the right arm to grab the medium cylinder-shaped bottle and shake it.", + "Use the right arm to lift and shake the milk-bottle shape design.", + "Use the right arm to hold the smooth surface bottle with gray shade and shake it.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Grip the medium cylinder-shaped bottle using the right arm and shake.", + "Grab and shake the rounded body bottle made of plastic using the right arm.", + "Shake the the milk-bottle shape design properly after lifting.", + "Pick up the rounded body bottle made of plastic and shake it.", + "Utilize the right arm to hold the medium-sized plastic bottle and shake it.", + "Lift the medium-sized plastic bottle and shake it gently.", + "Grasp the bottle with cute ghost drawing with the right arm and shake it.", + "Shake the plastic bottle with ghost print after holding it firmly.", + "Pick the light gray colored container bottle up with the right arm and shake.", + "Grab the bottle with cute ghost drawing carefully and shake.", + "Shake the smooth surface bottle with gray shade after lifting it.", + "Lift the rounded body bottle made of plastic and shake it thoroughly.", + "Grab the smooth surface bottle with gray shade with the right arm and shake.", + "Grab the rounded body bottle made of plastic and shake it steadily.", + "Shake the bottle shaped like small cylinder after grabbing it.", + "With the right arm, pick the light gray colored container bottle and shake properly.", + "Lift the gray bottle with slight shine with the right arm and give it a shake.", + "Pick the light gray colored container bottle, shake it with the right arm.", + "Secure the milk-bottle shape design, shake it, and place it down.", + "Pick the medium-sized plastic bottle and perform shaking motion.", + "Pick the plastic bottle with ghost print up using the right arm and shake it.", + "Shake the gray bottle with slight shine thoroughly after grabbing it.", + "Use the right arm to lift and shake the milk-bottle shape design." + ], + "unseen": [ + "Use the right arm to pick the bottle with rounded cap top.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Use the right arm to pick the light gray bottle.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Use the right arm to pick the light gray bottle.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Use the right arm to pick the light gray bottle.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode183.json b/shake_bottle/ur5_randomized_500/instructions/episode183.json new file mode 100644 index 0000000000000000000000000000000000000000..0a6f527e410168123107ec536a9da26b7f6ab3e2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode183.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the plastic bottle and shake it.", + "Shake the bottle with blue cap firmly after grabbing.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Grab the smooth plastic bottle and shake it steadily.", + "Shake the the handheld bottle properly after lifting.", + "Shake the smooth plastic bottle after grabbing it.", + "Hold the cylindrical bottle, shake it briefly.", + "Pick up the white bottle with blue accents and shake it well.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Grab the blue bottle and move it to shake.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Hold the cylindrical bottle with the left arm and shake lightly.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Lift the blue bottle with the left arm and shake.", + "Secure the blue bottle and perform a shake.", + "Shake the medium bottle for beverages after grabbing it.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Grab the blue bottle using the left arm, then shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Grab and shake the medium bottle for beverages using the left arm.", + "Lift the plastic bottle with the left arm and shake it.", + "Grab the cylindrical bottle with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the medium bottle for beverages after grabbing it.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Lift the handheld bottle and shake it gently.", + "Shake the bottle with blue cap after lifting it.", + "Shake the bottle with blue cap after holding it firmly.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Utilize the left arm to hold the medium bottle for beverages and shake it.", + "Hold and shake the the cylindrical bottle carefully.", + "Hold the bottle with blue cap and shake it properly.", + "Grab the medium-sized bottle and give it a shake.", + "Hold the blue bottle steady, then shake it.", + "Take the white bottle with blue accents using the left arm and give it a shake.", + "Use the left arm to pick and shake the blue bottle with label.", + "Pick the bottle with blue cap and perform shaking motion.", + "Catch the plastic bottle and shake it instantly.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Grab the white bottle with blue accents carefully and shake.", + "Using the left arm, shake the medium bottle for beverages and then place it back.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Shake the blue bottle with label using the left arm after grabbing.", + "Grip the plastic bottle using the left arm and shake.", + "Lift the blue bottle with the left arm and give it a shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Use the left arm to grab the smooth plastic bottle and shake it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Pick up the plastic bottle and shake it.", + "Shake the blue bottle with label firmly after grabbing.", + "Secure the handheld bottle, shake it, and place it down.", + "Grab the white bottle with blue accents and shake it steadily.", + "Shake the the smooth plastic bottle properly after lifting.", + "Shake the blue bottle after grabbing it.", + "Hold the blue bottle, shake it briefly.", + "Pick up the white and blue bottle and shake it well.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Grab the bottle with blue cap and move it to shake.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Lift the blue bottle with the left arm and shake.", + "Secure the plastic bottle and perform a shake.", + "Shake the bottle with blue cap after grabbing it.", + "Pick the white and blue bottle up with the left arm and shake.", + "Grab the blue bottle with label using the left arm, then shake.", + "Lift up the white and blue bottle using the left arm, then shake.", + "With the left arm, pick the white bottle with blue accents and shake properly.", + "Grab and shake the bottle for liquids using the left arm.", + "Lift the blue bottle with label with the left arm and shake it.", + "Grab the blue bottle with the left arm and shake.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Lift the white bottle with blue accents and shake it gently.", + "Shake the medium-sized bottle after lifting it.", + "Shake the white bottle with blue accents after holding it firmly.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Hold and shake the the medium-sized bottle carefully.", + "Hold the plastic bottle and shake it properly.", + "Grab the medium bottle for beverages and give it a shake.", + "Hold the cylindrical bottle steady, then shake it.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the white bottle with blue accents.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Catch the bottle for liquids and shake it instantly.", + "Pick the cylindrical bottle, shake it with the left arm.", + "Grab the smooth plastic bottle carefully and shake.", + "Using the left arm, shake the blue bottle with label and then place it back.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Grip the white bottle with blue accents using the left arm and shake.", + "Lift the bottle for liquids with the left arm and give it a shake.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Use the left arm to grab the blue bottle and shake it.", + "Use the left arm to lift and shake the white and blue bottle." + ], + "unseen": [ + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode184.json b/shake_bottle/ur5_randomized_500/instructions/episode184.json new file mode 100644 index 0000000000000000000000000000000000000000..e3f27697cee03af8101c50ae6b9aca41f9304f35 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode184.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic bottle with the left arm and shake.", + "Pick the medium-sized orange bottle up with the left arm and shake.", + "Grasp the medium-sized orange bottle with the left arm and shake it.", + "Shake the plastic bottle with sealed yellow cap after lifting it.", + "Shake the bottle with yellow cap after grabbing it.", + "Hold the orange bottle with the left arm and shake lightly.", + "Use the left arm to grab the bottle with printed label and shake it.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Shake the the yellow-capped plastic bottle properly after lifting.", + "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.", + "Grip the bottle with printed label using the left arm and shake.", + "Secure the bottle with printed label and perform a shake.", + "Hold the plastic bottle with sealed yellow cap and shake it properly.", + "Shake the plastic bottle with sealed yellow cap using the left arm after grabbing.", + "Use the left arm to grab the bottle with yellow cap and shake properly.", + "Grab the yellow-capped plastic bottle using the left arm, then shake.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Lift up the bottle with yellow cap using the left arm, then shake.", + "With the left arm, pick the medium-sized orange bottle and shake properly.", + "Take the orange cylindrical bottle using the left arm and give it a shake.", + "Pick up the orange bottle and shake it.", + "Pick up the bottle with yellow cap and shake it well.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Pick the orange bottle, shake it with the left arm.", + "Utilize the left arm to hold the medium-sized orange bottle and shake it.", + "Use the left arm to pick and shake the yellow-capped plastic bottle.", + "Hold and shake the the plastic bottle with sealed yellow cap carefully.", + "Lift the yellow-capped plastic bottle with the left arm and give it a shake.", + "Catch the smooth plastic bottle and shake it instantly.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Grab the bottle with printed label and shake it steadily.", + "Grab the bottle with narrow neck and give it a shake.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Hold the orange cylindrical bottle steady, then shake it.", + "Shake the bottle with narrow neck thoroughly after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Secure the medium-sized orange bottle, shake it, and place it down.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the left arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Grab the plastic bottle carefully and shake.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Pick the orange cylindrical bottle and perform shaking motion.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Hold the orange cylindrical bottle, shake it briefly.", + "Lift the plastic bottle and shake it gently.", + "Pick the bottle with printed label up using the left arm and shake it.", + "Shake the bottle for liquids after holding it firmly.", + "Lift the plastic bottle with sealed yellow cap with the left arm and shake it.", + "Lift the plastic bottle with sealed yellow cap with the left arm and shake.", + "Pick the orange bottle up with the left arm and shake.", + "Grasp the bottle with narrow neck with the left arm and shake it.", + "Shake the orange bottle after lifting it.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Use the left arm to grab the orange cylindrical bottle and shake it.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Shake the the bottle for liquids properly after lifting.", + "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.", + "Grip the medium-sized orange bottle using the left arm and shake.", + "Secure the bottle with narrow neck and perform a shake.", + "Hold the bottle for liquids and shake it properly.", + "Shake the bottle with yellow cap using the left arm after grabbing.", + "Use the left arm to grab the bottle with printed label and shake properly.", + "Grab the bottle for liquids using the left arm, then shake.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Grab the bottle with yellow cap with the left arm and shake.", + "Lift up the bottle with narrow neck using the left arm, then shake.", + "With the left arm, pick the bottle with narrow neck and shake properly.", + "Take the orange bottle using the left arm and give it a shake.", + "Pick up the yellow-capped plastic bottle and shake it.", + "Pick up the bottle with yellow cap and shake it well.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Pick the orange bottle, shake it with the left arm.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Use the left arm to pick and shake the plastic bottle.", + "Hold and shake the the plastic bottle carefully.", + "Lift the orange cylindrical bottle with the left arm and give it a shake.", + "Catch the bottle with printed label and shake it instantly.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Grab the bottle with printed label and shake it steadily.", + "Grab the smooth plastic bottle and give it a shake.", + "Grab and shake the bottle with yellow cap using the left arm.", + "Hold the bottle with narrow neck steady, then shake it.", + "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.", + "Grab the bottle with yellow cap and move it to shake.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Shake the bottle with narrow neck after grabbing it.", + "Use the left arm to hold the bottle with yellow cap and shake it.", + "Grab the bottle with narrow neck carefully and shake.", + "Shake the bottle for liquids after grabbing it.", + "Pick the bottle for liquids and perform shaking motion.", + "Using the left arm, shake the bottle with printed label and then place it back.", + "Hold the orange bottle, shake it briefly.", + "Lift the plastic bottle with sealed yellow cap and shake it gently.", + "Pick the orange cylindrical bottle up using the left arm and shake it.", + "Shake the bottle with printed label after holding it firmly.", + "Lift the orange cylindrical bottle with the left arm and shake it." + ], + "unseen": [ + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode185.json b/shake_bottle/ur5_randomized_500/instructions/episode185.json new file mode 100644 index 0000000000000000000000000000000000000000..e5bc512b6a0fe66777d0e0200660c7aa09b0e71e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode185.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the orange bottle up using the right arm and shake it.", + "Pick the yellow label bottle and perform shaking motion.", + "Use the right arm to lift and shake the yellow label bottle.", + "Shake the medium bottle with orange lid after grabbing it.", + "Use the right arm to grab the cylindrical orange and white bottle and shake properly.", + "Pick the yellow label bottle, shake it with the right arm.", + "Shake the bottle with ribbed orange bottom after holding it firmly.", + "Secure the bottle with orange cap, shake it, and place it down.", + "Shake the smooth plastic bottle after lifting it.", + "Grab the bottle with ribbed orange bottom and shake it steadily.", + "Lift the drinking bottle with yellow label with the right arm and give it a shake.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Use the right arm to lift and shake the orange and white bottle with cap.", + "Grab the medium bottle with orange lid with the right arm and shake.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Pick the white and orange plastic bottle up with the right arm and shake.", + "Hold the bottle with orange cap with the right arm and shake lightly.", + "Grasp the cylindrical orange and white bottle with the right arm and shake it.", + "Grab the yellow label bottle using the right arm, then shake.", + "Shake the medium orange bottle after grabbing it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to hold the orange bottle and shake it.", + "Lift the orange bottle and shake it thoroughly.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Shake the yellow label bottle firmly after grabbing.", + "Grab the drinking bottle with yellow label carefully and shake.", + "Utilize the right arm to hold the medium orange bottle and shake it.", + "Lift up the orange bottle using the right arm, then shake.", + "Grab and shake the medium bottle with orange lid using the right arm.", + "Grip the orange and white bottle with cap using the right arm and shake.", + "Secure the plastic bottle and perform a shake.", + "Shake the orange bottle after grabbing it.", + "Lift the bottle with ribbed orange bottom with the right arm and shake it.", + "Hold the bottle with orange cap and shake it properly.", + "Use the right arm to pick and shake the cylindrical orange and white bottle.", + "Grab the bottle with ribbed orange bottom and move it to shake.", + "Use the right arm to grab the orange bottle and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the cylindrical orange and white bottle using the right arm after grabbing.", + "Pick up the plastic bottle and shake it.", + "Shake the the medium orange bottle properly after lifting.", + "Use the right arm to lift and shake the cylindrical orange and white bottle.", + "Lift the medium orange bottle with the right arm and shake.", + "Pick up the yellow label bottle and shake it well.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Grab the smooth plastic bottle and give it a shake.", + "Lift the medium orange bottle and shake it gently.", + "Hold the white and orange plastic bottle steady, then shake it.", + "Hold and shake the the white and orange plastic bottle carefully.", + "Pick the cylindrical orange and white bottle up using the right arm and shake it.", + "Pick the orange and white bottle with cap and perform shaking motion.", + "Use the right arm to lift and shake the bottle with orange cap.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Pick the orange and white bottle with cap, shake it with the right arm.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Shake the orange and white bottle with cap after lifting it.", + "Grab the orange bottle and shake it steadily.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the orange and white bottle with cap thoroughly after grabbing it.", + "Use the right arm to lift and shake the drinking bottle with yellow label.", + "Grab the cylindrical orange and white bottle with the right arm and shake.", + "Catch the white and orange plastic bottle and shake it instantly.", + "Pick the bottle with ribbed orange bottom up with the right arm and shake.", + "Hold the white and orange plastic bottle with the right arm and shake lightly.", + "Grasp the bottle with ribbed orange bottom with the right arm and shake it.", + "Grab the yellow label bottle using the right arm, then shake.", + "Shake the orange bottle after grabbing it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the medium orange bottle, shake it briefly.", + "Grab the medium orange bottle firmly, shake it, and put it down.", + "Shake the cylindrical orange and white bottle firmly after grabbing.", + "Grab the orange bottle carefully and shake.", + "Utilize the right arm to hold the bottle with ribbed orange bottom and shake it.", + "Lift up the medium orange bottle using the right arm, then shake.", + "Grab and shake the drinking bottle with yellow label using the right arm.", + "Grip the bottle with ribbed orange bottom using the right arm and shake.", + "Secure the smooth plastic bottle and perform a shake.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Lift the yellow label bottle with the right arm and shake it.", + "Hold the cylindrical orange and white bottle and shake it properly.", + "Use the right arm to pick and shake the white and orange plastic bottle.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to grab the medium orange bottle and shake it.", + "With the right arm, pick the drinking bottle with yellow label and shake properly.", + "Shake the white and orange plastic bottle using the right arm after grabbing.", + "Pick up the medium bottle with orange lid and shake it.", + "Shake the the cylindrical orange and white bottle properly after lifting.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Lift the orange and white bottle with cap with the right arm and shake.", + "Pick up the yellow label bottle and shake it well.", + "Take the medium bottle with orange lid using the right arm and give it a shake.", + "Grab the smooth plastic bottle and give it a shake.", + "Lift the medium bottle with orange lid and shake it gently.", + "Hold the plastic bottle steady, then shake it.", + "Hold and shake the the plastic bottle carefully." + ], + "unseen": [ + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the bottle with curved body after picking it with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Shake the bottle with curved body after picking it with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode186.json b/shake_bottle/ur5_randomized_500/instructions/episode186.json new file mode 100644 index 0000000000000000000000000000000000000000..fbb2ed411fe49dbeecc31ec5bfc370f9d0f15b0f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode186.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth black bottle with ridges up using the left arm and shake it.", + "Using the left arm, shake the drink bottle with rounded yellow lid and then place it back.", + "Lift the medium bottle with yellow cap with the left arm and shake.", + "Shake the yellow capped drink bottle after holding it firmly.", + "Lift the plastic bottle with colorful label and shake it gently.", + "Grab the beverage bottle with black body and shake it steadily.", + "Grab the beverage bottle with black body carefully and shake.", + "Pick the medium black bottle with printed label, shake it with the left arm.", + "Shake the yellow capped drink bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the plastic bottle with colorful label and shake it.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Hold the drink bottle with rounded yellow lid, shake it briefly.", + "Catch the black bottle and shake it instantly.", + "Use the left arm to grab the medium bottle with yellow cap and shake properly.", + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Shake the beverage bottle with black body after grabbing it.", + "Shake the smooth black bottle with ridges using the left arm after grabbing.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Pick the yellow capped drink bottle and perform shaking motion.", + "Grab and shake the drink bottle with rounded yellow lid using the left arm.", + "Grasp the medium black bottle with printed label with the left arm and shake it.", + "Lift the bottle with blue and yellow print with the left arm and give it a shake.", + "Lift up the medium bottle with yellow cap using the left arm, then shake.", + "Shake the black bottle firmly after grabbing.", + "Use the left arm to pick and shake the yellow capped drink bottle.", + "Grab the drink bottle with rounded yellow lid with the left arm and shake.", + "Hold and shake the the beverage bottle with black body carefully.", + "Hold the smooth black bottle with ridges with the left arm and shake lightly.", + "Shake the medium black bottle with printed label after lifting it.", + "Pick the black bottle up with the left arm and shake.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Use the left arm to grab the plastic bottle with colorful label and shake it.", + "Take the yellow-capped cylindrical bottle using the left arm and give it a shake.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Grab the smooth black bottle with ridges firmly, shake it, and put it down.", + "Lift the plastic bottle with colorful label with the left arm and shake it.", + "Grab the beverage bottle with black body and move it to shake.", + "Hold the bottle with blue and yellow print and shake it properly.", + "Pick up the beverage bottle with black body and shake it.", + "Secure the medium black bottle with printed label and perform a shake.", + "Use the left arm to lift and shake the beverage bottle with black body.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Grab the plastic bottle with colorful label using the left arm, then shake.", + "With the left arm, pick the smooth black bottle with ridges and shake properly.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Use the left arm to hold the smooth black bottle with ridges and shake it.", + "Grip the beverage bottle with black body using the left arm and shake.", + "Pick the yellow capped drink bottle up using the left arm and shake it.", + "Using the left arm, shake the black plastic bottle with Pepsi logo and then place it back.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake.", + "Shake the smooth black bottle with ridges after holding it firmly.", + "Lift the black plastic bottle with Pepsi logo and shake it gently.", + "Grab the yellow capped drink bottle and shake it steadily.", + "Grab the black plastic bottle with Pepsi logo carefully and shake.", + "Pick the drink bottle with rounded yellow lid, shake it with the left arm.", + "Shake the plastic bottle with colorful label thoroughly after grabbing it.", + "Utilize the left arm to hold the black bottle and shake it.", + "Secure the bottle with blue and yellow print, shake it, and place it down.", + "Hold the medium bottle with yellow cap, shake it briefly.", + "Catch the black plastic bottle with Pepsi logo and shake it instantly.", + "Use the left arm to grab the yellow capped drink bottle and shake properly.", + "Grab the black bottle and give it a shake.", + "Shake the black bottle after grabbing it.", + "Shake the smooth black bottle with ridges using the left arm after grabbing.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Pick the black bottle and perform shaking motion.", + "Grab and shake the black cylindrical bottle with ridges using the left arm.", + "Grasp the medium bottle with yellow cap with the left arm and shake it.", + "Lift the drink bottle with rounded yellow lid with the left arm and give it a shake.", + "Lift up the beverage bottle with black body using the left arm, then shake.", + "Shake the beverage bottle with black body firmly after grabbing.", + "Use the left arm to pick and shake the medium bottle with yellow cap.", + "Grab the yellow-capped cylindrical bottle with the left arm and shake.", + "Hold and shake the the drink bottle with rounded yellow lid carefully.", + "Hold the black bottle with the left arm and shake lightly.", + "Shake the beverage bottle with black body after lifting it.", + "Pick the medium bottle with yellow cap up with the left arm and shake.", + "Shake the the drink bottle with rounded yellow lid properly after lifting.", + "Use the left arm to grab the black bottle and shake it.", + "Take the black cylindrical bottle with ridges using the left arm and give it a shake.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Lift the bottle with blue and yellow print and shake it thoroughly.", + "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake it.", + "Grab the beverage bottle with black body and move it to shake.", + "Hold the yellow capped drink bottle and shake it properly.", + "Pick up the smooth black bottle with ridges and shake it.", + "Secure the black cylindrical bottle with ridges and perform a shake.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Pick up the plastic bottle with colorful label and shake it well.", + "Grab the medium bottle with yellow cap using the left arm, then shake.", + "With the left arm, pick the smooth black bottle with ridges and shake properly.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Use the left arm to hold the black cylindrical bottle with ridges and shake it.", + "Grip the black bottle using the left arm and shake." + ], + "unseen": [ + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode187.json b/shake_bottle/ur5_randomized_500/instructions/episode187.json new file mode 100644 index 0000000000000000000000000000000000000000..fd0a3a292f73a85baaf5a226133f1a0db6523de7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode187.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the yellow-capped plastic bottle, shake it briefly.", + "Shake the plastic bottle with sealed yellow cap using the left arm after grabbing.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Grasp the plastic bottle with sealed yellow cap with the left arm and shake it.", + "Shake the orange bottle after grabbing it.", + "Grab the orange bottle with the left arm and shake.", + "Secure the orange bottle, shake it, and place it down.", + "Grab the bottle with printed label and shake it steadily.", + "Grab the orange cylindrical bottle carefully and shake.", + "Lift the plastic bottle and shake it gently.", + "Pick the plastic bottle with sealed yellow cap, shake it with the left arm.", + "Lift up the yellow-capped plastic bottle using the left arm, then shake.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.", + "Use the left arm to pick and shake the bottle with yellow cap.", + "Hold the medium-sized orange bottle with the left arm and shake lightly.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Use the left arm to hold the orange cylindrical bottle and shake it.", + "Grip the yellow-capped plastic bottle using the left arm and shake.", + "Shake the the bottle with yellow cap properly after lifting.", + "Use the left arm to lift and shake the orange bottle.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Grab the plastic bottle with sealed yellow cap using the left arm, then shake.", + "Hold the bottle for liquids steady, then shake it.", + "Take the yellow-capped plastic bottle using the left arm and give it a shake.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Pick the cylindrical orange bottle with yellow top up with the left arm and shake.", + "Pick the plastic bottle and perform shaking motion.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Grab and shake the plastic bottle with sealed yellow cap using the left arm.", + "Hold the bottle for liquids and shake it properly.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Shake the orange cylindrical bottle after holding it firmly.", + "Pick up the bottle with narrow neck and shake it.", + "Lift the yellow-capped plastic bottle and shake it thoroughly.", + "Catch the orange bottle and shake it instantly.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick the orange bottle up using the left arm and shake it.", + "Pick up the orange cylindrical bottle and shake it well.", + "Use the left arm to grab the bottle with narrow neck and shake it.", + "Shake the orange cylindrical bottle after lifting it.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Lift the orange bottle with the left arm and shake.", + "Use the left arm to grab the orange cylindrical bottle and shake properly.", + "Hold and shake the the plastic bottle with sealed yellow cap carefully.", + "Using the left arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Grab the plastic bottle with sealed yellow cap and give it a shake.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Shake the bottle with yellow cap using the left arm after grabbing.", + "Shake the orange bottle firmly after grabbing.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Grab the plastic bottle with the left arm and shake.", + "Secure the medium-sized orange bottle, shake it, and place it down.", + "Grab the cylindrical orange bottle with yellow top and shake it steadily.", + "Grab the yellow-capped plastic bottle carefully and shake.", + "Lift the bottle with yellow cap and shake it gently.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Lift up the plastic bottle with sealed yellow cap using the left arm, then shake.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Shake the orange bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the bottle with printed label.", + "Hold the cylindrical orange bottle with yellow top with the left arm and shake lightly.", + "Secure the bottle with printed label and perform a shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grip the smooth plastic bottle using the left arm and shake.", + "Shake the the bottle with printed label properly after lifting.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Lift the orange bottle with the left arm and give it a shake.", + "Grab the yellow-capped plastic bottle using the left arm, then shake.", + "Hold the bottle with yellow cap steady, then shake it.", + "Take the yellow-capped plastic bottle using the left arm and give it a shake.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Pick the bottle for liquids up with the left arm and shake.", + "Pick the bottle with printed label and perform shaking motion.", + "With the left arm, pick the orange cylindrical bottle and shake properly.", + "Grab and shake the medium-sized orange bottle using the left arm.", + "Hold the bottle for liquids and shake it properly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the orange cylindrical bottle after holding it firmly.", + "Pick up the yellow-capped plastic bottle and shake it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Shake the plastic bottle after grabbing it.", + "Pick the bottle with yellow cap up using the left arm and shake it.", + "Pick up the plastic bottle and shake it well.", + "Use the left arm to grab the bottle with yellow cap and shake it.", + "Shake the bottle with yellow cap after lifting it.", + "Utilize the left arm to hold the bottle with printed label and shake it.", + "Lift the bottle with yellow cap with the left arm and shake it.", + "Lift the bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with printed label and shake properly.", + "Hold and shake the the bottle with printed label carefully.", + "Using the left arm, shake the orange bottle and then place it back.", + "Grab the orange cylindrical bottle and give it a shake.", + "Use the left arm to lift and shake the yellow-capped plastic bottle." + ], + "unseen": [ + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode188.json b/shake_bottle/ur5_randomized_500/instructions/episode188.json new file mode 100644 index 0000000000000000000000000000000000000000..13abcd62fe1b75f96695c7b34cac177dfd60c198 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode188.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle, shake it with the left arm.", + "Lift the rectangular-shaped bottle with round cap with the left arm and shake it.", + "Use the left arm to hold the bottle with green cap and shake it.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Pick up the dark brown bottle with a squared body and shake it.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "With the left arm, pick the dark brown bottle with a squared body and shake properly.", + "Shake the the brown bottle properly after lifting.", + "Grab and shake the bottle with flat sides and logo using the left arm.", + "Catch the brown bottle and shake it instantly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Grab the bottle with green cap with the left arm and shake.", + "Hold the smooth plastic bottle with white cap with the left arm and shake lightly.", + "Grab the brown bottle with rounded rectangular shape and shake it steadily.", + "Pick the brown bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Using the left arm, shake the bottle with flat sides and logo and then place it back.", + "Shake the rectangular-shaped bottle with round cap thoroughly after grabbing it.", + "Shake the medium-sized brown plastic bottle after holding it firmly.", + "Pick the dark brown bottle with a squared body and perform shaking motion.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Secure the dark brown bottle with a squared body and perform a shake.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Use the left arm to grab the smooth plastic bottle with white cap and shake properly.", + "Lift up the dark brown bottle with a squared body using the left arm, then shake.", + "Grab the bottle with green cap using the left arm, then shake.", + "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Grip the smooth plastic bottle with white cap using the left arm and shake.", + "Lift the rectangular brown body with white top and shake it gently.", + "Lift the plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Shake the bottle with flat sides and logo firmly after grabbing.", + "Grasp the smooth brown bottle with green label with the left arm and shake it.", + "Lift the bottle with flat sides and logo with the left arm and give it a shake.", + "Use the left arm to grab the dark brown bottle with a squared body and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the smooth brown bottle with green label steady, then shake it.", + "Hold the bottle with flat sides and logo, shake it briefly.", + "Secure the bottle with green cap, shake it, and place it down.", + "Pick the medium bottle with glossy surface up with the left arm and shake.", + "Utilize the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Grab the brown bottle with rounded rectangular shape and give it a shake.", + "Pick up the rectangular-shaped bottle with round cap and shake it well.", + "Use the left arm to pick and shake the medium bottle with glossy surface.", + "Pick the medium-sized brown plastic bottle, shake it with the left arm.", + "Lift the medium-sized brown plastic bottle with the left arm and shake it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Hold and shake the the smooth brown bottle with green label carefully.", + "Pick up the dark brown bottle with a squared body and shake it.", + "Hold the brown bottle with rounded rectangular shape and shake it properly.", + "With the left arm, pick the brown bottle and shake properly.", + "Shake the the brown bottle properly after lifting.", + "Grab and shake the medium bottle with glossy surface using the left arm.", + "Catch the brown bottle with rounded rectangular shape and shake it instantly.", + "Grab the smooth brown bottle with green label firmly, shake it, and put it down.", + "Grab the medium-sized brown plastic bottle and move it to shake.", + "Grab the bottle with flat sides and logo with the left arm and shake.", + "Hold the brown bottle with rounded rectangular shape with the left arm and shake lightly.", + "Grab the bottle with flat sides and logo and shake it steadily.", + "Pick the bottle with flat sides and logo up using the left arm and shake it.", + "Use the left arm to lift and shake the medium bottle with glossy surface.", + "Using the left arm, shake the medium bottle with glossy surface and then place it back.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "Shake the rectangular brown body with white top after holding it firmly.", + "Pick the plastic bottle and perform shaking motion.", + "Grab the dark brown bottle with a squared body carefully and shake.", + "Shake the plastic bottle after lifting it.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Secure the bottle with green cap and perform a shake.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Use the left arm to grab the medium bottle with glossy surface and shake properly.", + "Lift up the smooth plastic bottle with white cap using the left arm, then shake.", + "Grab the rectangular-shaped bottle with round cap using the left arm, then shake.", + "Take the medium bottle with glossy surface using the left arm and give it a shake.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Grip the rectangular brown body with white top using the left arm and shake.", + "Lift the smooth plastic bottle with white cap and shake it gently.", + "Lift the rectangular brown body with white top with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the smooth plastic bottle with white cap firmly after grabbing.", + "Grasp the rectangular brown body with white top with the left arm and shake it.", + "Lift the smooth brown bottle with green label with the left arm and give it a shake.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the medium-sized brown plastic bottle steady, then shake it.", + "Hold the rectangular-shaped bottle with round cap, shake it briefly.", + "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.", + "Pick the bottle with flat sides and logo up with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the smooth brown bottle with green label and give it a shake.", + "Pick up the brown bottle and shake it well.", + "Use the left arm to pick and shake the medium bottle with glossy surface." + ], + "unseen": [ + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the bottle with green label and white lid with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode189.json b/shake_bottle/ur5_randomized_500/instructions/episode189.json new file mode 100644 index 0000000000000000000000000000000000000000..53e356cbe1e8451f00a883e6d879d0360dcb0431 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode189.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Grip the yellow bottle with cylindrical cap using the right arm and shake.", + "Take the bottle for liquids using the right arm and give it a shake.", + "Pick the yellow bottle up with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Grab the bottle with green and white label using the right arm, then shake.", + "Catch the yellow bottle with green label and shake it instantly.", + "Use the right arm to lift and shake the rectangular bottle.", + "Hold and shake the the bottle for liquids carefully.", + "Secure the yellow bottle with flower design, shake it, and place it down.", + "Shake the smooth yellow plastic bottle after grabbing it.", + "Grab the yellow bottle with cylindrical cap with the right arm and shake.", + "Pick up the bottle with green and white label and shake it well.", + "Hold the yellow body bottle steady, then shake it.", + "Shake the smooth yellow plastic bottle after grabbing it.", + "Lift the yellow body bottle with the right arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Secure the yellow bottle with flower design and perform a shake.", + "Shake the the yellow bottle properly after lifting.", + "Hold the yellow body bottle with the right arm and shake lightly.", + "Hold the yellow bottle with flower design, shake it briefly.", + "Grab the plastic bottle carefully and shake.", + "Using the right arm, shake the yellow bottle with flower design and then place it back.", + "With the right arm, pick the yellow body bottle and shake properly.", + "Shake the bottle with white cap after lifting it.", + "Utilize the right arm to hold the rectangular bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Lift up the yellow bottle using the right arm, then shake.", + "Lift the rectangular bottle with the right arm and give it a shake.", + "Grab the yellow bottle with green label and shake it steadily.", + "Pick up the handheld bottle and shake it.", + "Lift the yellow body bottle with the right arm and shake.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Shake the yellow body bottle after grabbing it.", + "Lift the yellow bottle with cylindrical cap and shake it thoroughly.", + "Use the right arm to lift and shake the bottle for liquids.", + "Pick the handheld bottle, shake it with the right arm.", + "Grasp the yellow bottle with flower design with the right arm and shake it.", + "Use the right arm to lift and shake the yellow bottle with flower design.", + "Shake the bottle for liquids after holding it firmly.", + "Pick the handheld bottle and perform shaking motion.", + "Use the right arm to hold the handheld bottle and shake it.", + "Grab the yellow bottle with green label and move it to shake.", + "Grab and shake the yellow bottle with flower design using the right arm.", + "Shake the yellow bottle with cylindrical cap firmly after grabbing.", + "Use the right arm to pick and shake the yellow body bottle.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the smooth yellow plastic bottle thoroughly after grabbing it.", + "Hold the smooth yellow plastic bottle and shake it properly.", + "Shake the bottle with white cap using the right arm after grabbing.", + "Grab the yellow bottle with cylindrical cap firmly, shake it, and put it down.", + "Grip the handheld bottle using the right arm and shake.", + "Take the bottle with green and white label using the right arm and give it a shake.", + "Pick the rectangular bottle up with the right arm and shake.", + "Use the right arm to grab the smooth yellow plastic bottle and shake it.", + "Grab the yellow bottle with cylindrical cap using the right arm, then shake.", + "Catch the yellow body bottle and shake it instantly.", + "Use the right arm to lift and shake the rectangular bottle.", + "Hold and shake the the yellow bottle with cylindrical cap carefully.", + "Secure the yellow bottle, shake it, and place it down.", + "Shake the yellow body bottle after grabbing it.", + "Grab the yellow bottle with green label with the right arm and shake.", + "Pick up the yellow bottle with green label and shake it well.", + "Hold the bottle with green and white label steady, then shake it.", + "Shake the bottle with white cap after grabbing it.", + "Lift the yellow bottle with cylindrical cap with the right arm and shake it.", + "Lift the bottle for liquids and shake it gently.", + "Secure the bottle for liquids and perform a shake.", + "Shake the the handheld bottle properly after lifting.", + "Hold the yellow body bottle with the right arm and shake lightly.", + "Hold the yellow body bottle, shake it briefly.", + "Grab the plastic bottle carefully and shake.", + "Using the right arm, shake the yellow bottle and then place it back.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Shake the rectangular bottle after lifting it.", + "Utilize the right arm to hold the bottle with green and white label and shake it.", + "Grab the smooth yellow plastic bottle and give it a shake.", + "Lift up the yellow bottle with cylindrical cap using the right arm, then shake.", + "Lift the smooth yellow plastic bottle with the right arm and give it a shake.", + "Grab the yellow body bottle and shake it steadily.", + "Pick up the yellow bottle with flower design and shake it.", + "Lift the rectangular bottle with the right arm and shake.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Shake the smooth yellow plastic bottle after grabbing it.", + "Lift the bottle with white cap and shake it thoroughly.", + "Use the right arm to lift and shake the handheld bottle.", + "Pick the yellow body bottle, shake it with the right arm.", + "Grasp the plastic bottle with the right arm and shake it.", + "Use the right arm to lift and shake the yellow bottle with green label.", + "Shake the yellow bottle with flower design after holding it firmly.", + "Pick the yellow bottle with cylindrical cap and perform shaking motion.", + "Use the right arm to hold the smooth yellow plastic bottle and shake it.", + "Grab the bottle with white cap and move it to shake.", + "Grab and shake the yellow bottle with cylindrical cap using the right arm.", + "Shake the rectangular bottle firmly after grabbing.", + "Use the right arm to pick and shake the yellow bottle with flower design.", + "Pick the yellow bottle with flower design up using the right arm and shake it.", + "Shake the yellow bottle with green label thoroughly after grabbing it.", + "Hold the smooth yellow plastic bottle and shake it properly.", + "Shake the yellow bottle with cylindrical cap using the right arm after grabbing." + ], + "unseen": [ + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Use the right arm to grab the medium bottle and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Use the right arm to grab the medium bottle and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Use the right arm to grab the medium bottle and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode19.json b/shake_bottle/ur5_randomized_500/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..6026ee68d7fcc47d399f355b12b5240361a3c8c7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the grooved orange drink bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth orange bottle.", + "Shake the the plastic bottle properly after lifting.", + "Shake the bottle for holding drinks after grabbing it.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Take the bottle for holding drinks using the right arm and give it a shake.", + "Pick the plastic bottle and perform shaking motion.", + "With the right arm, pick the smooth orange bottle and shake properly.", + "Use the right arm to grab the medium bottle with colorful label and shake properly.", + "Shake the smooth orange bottle after grabbing it.", + "Secure the ridged orange bottle with grooves, shake it, and place it down.", + "Shake the grooved orange drink bottle thoroughly after grabbing it.", + "Use the right arm to grab the bottle for holding drinks and shake it.", + "Lift the orange drink bottle with label and shake it thoroughly.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Shake the light and medium-sized bottle firmly after grabbing.", + "Pick up the curved orange soda bottle and shake it well.", + "Lift the smooth orange bottle and shake it gently.", + "Use the right arm to lift and shake the smooth orange bottle.", + "Shake the cylindrical orange plastic bottle using the right arm after grabbing.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab and shake the curved orange soda bottle using the right arm.", + "Pick the medium bottle with colorful label up with the right arm and shake.", + "Grip the smooth orange bottle using the right arm and shake.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Lift the light and medium-sized bottle with the right arm and shake.", + "Pick the cylindrical orange plastic bottle up using the right arm and shake it.", + "Shake the orange bottle after grabbing it.", + "Grab the orange drink bottle with label and give it a shake.", + "Hold the orange bottle, shake it briefly.", + "Grab the cylindrical orange plastic bottle with the right arm and shake.", + "Hold the ridged orange bottle with grooves steady, then shake it.", + "Shake the grooved orange drink bottle after lifting it.", + "Hold the grooved orange drink bottle and shake it properly.", + "Secure the ridged orange bottle with grooves and perform a shake.", + "Grab the orange drink bottle with label and move it to shake.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Utilize the right arm to hold the medium bottle with colorful label and shake it.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Lift the curved orange soda bottle with the right arm and shake it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grasp the orange drink bottle with label with the right arm and shake it.", + "Grab the bottle for holding drinks using the right arm, then shake.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Lift up the grooved orange drink bottle using the right arm, then shake.", + "Pick the grooved orange drink bottle, shake it with the right arm.", + "Use the right arm to pick and shake the cylindrical orange plastic bottle.", + "Using the right arm, shake the bottle for holding drinks and then place it back.", + "Hold the smooth orange bottle with the right arm and shake lightly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the light and medium-sized bottle.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Shake the grooved orange drink bottle after grabbing it.", + "Shake the smooth orange bottle after holding it firmly.", + "Take the smooth orange bottle using the right arm and give it a shake.", + "Pick the curved orange soda bottle and perform shaking motion.", + "With the right arm, pick the orange drink bottle with label and shake properly.", + "Use the right arm to grab the ridged orange bottle with grooves and shake properly.", + "Shake the bottle for holding drinks after grabbing it.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Use the right arm to grab the orange drink bottle with label and shake it.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Shake the grooved orange drink bottle firmly after grabbing.", + "Pick up the plastic bottle and shake it well.", + "Lift the medium bottle with colorful label and shake it gently.", + "Use the right arm to lift and shake the curved orange soda bottle.", + "Shake the orange drink bottle with label using the right arm after grabbing.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Grab and shake the plastic bottle using the right arm.", + "Pick the plastic bottle up with the right arm and shake.", + "Grip the bottle for holding drinks using the right arm and shake.", + "Hold and shake the the smooth orange bottle carefully.", + "Lift the ridged orange bottle with grooves with the right arm and shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the orange drink bottle with label after grabbing it.", + "Grab the medium bottle with colorful label and give it a shake.", + "Hold the round-bottom bottle with white cap, shake it briefly.", + "Grab the orange bottle with the right arm and shake.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Shake the round-bottom bottle with white cap after lifting it.", + "Hold the orange drink bottle with label and shake it properly.", + "Secure the grooved orange drink bottle and perform a shake.", + "Grab the plastic bottle and move it to shake.", + "Pick up the grooved orange drink bottle and shake it.", + "Utilize the right arm to hold the grooved orange drink bottle and shake it.", + "Grab the curved orange soda bottle and shake it steadily.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Lift the smooth orange bottle with the right arm and shake it.", + "Use the right arm to hold the grooved orange drink bottle and shake it.", + "Grasp the bottle for holding drinks with the right arm and shake it.", + "Grab the grooved orange drink bottle using the right arm, then shake.", + "Grab the medium bottle with colorful label carefully and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Pick the round-bottom bottle with white cap, shake it with the right arm.", + "Use the right arm to pick and shake the smooth orange bottle.", + "Using the right arm, shake the orange bottle and then place it back.", + "Hold the orange drink bottle with label with the right arm and shake lightly." + ], + "unseen": [ + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode190.json b/shake_bottle/ur5_randomized_500/instructions/episode190.json new file mode 100644 index 0000000000000000000000000000000000000000..2da36b73a59fdd8dd57b298082082fdb80063366 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode190.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the yellow bottle with blue label and perform a shake.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Shake the bottle with screw cap after lifting it.", + "Pick the medium-sized bottle and perform shaking motion.", + "Pick the yellow bottle up with the left arm and shake.", + "Grab the bottle with screw cap and move it to shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Use the left arm to hold the yellow bottle with blue label and shake it.", + "Grab the yellow bottle with blue label with the left arm and shake.", + "Hold the yellow bottle for liquid storage, shake it briefly.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Shake the plastic bottle after holding it firmly.", + "Shake the yellow bottle firmly after grabbing.", + "Hold the plastic bottle with curved sides and shake it properly.", + "Grab the bottle with screw cap and shake it steadily.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Pick the bottle for liquid up using the left arm and shake it.", + "Grip the medium plastic bottle with cap using the left arm and shake.", + "Grab and shake the yellow bottle with blue label using the left arm.", + "Pick up the yellow bottle and shake it well.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake properly.", + "Grab the medium plastic bottle with cap firmly, shake it, and put it down.", + "Hold and shake the the handheld curvy bottle carefully.", + "Use the left arm to lift and shake the bottle for liquid.", + "Shake the yellow bottle with blue label using the left arm after grabbing.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Shake the plastic bottle after grabbing it.", + "Lift the medium-sized bottle and shake it gently.", + "Grab the yellow bottle with blue label using the left arm, then shake.", + "Secure the bottle for liquid, shake it, and place it down.", + "Using the left arm, shake the bottle with screw cap and then place it back.", + "Lift up the handheld curvy bottle using the left arm, then shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake it.", + "Lift the plastic bottle with the left arm and shake it.", + "Pick up the handheld curvy bottle and shake it.", + "Utilize the left arm to hold the handheld curvy bottle and shake it.", + "Shake the handheld curvy bottle after grabbing it.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Lift the handheld curvy bottle with the left arm and shake.", + "Lift the yellow bottle for liquid storage and shake it thoroughly.", + "Grab the bottle for liquid carefully and shake.", + "Use the left arm to lift and shake the yellow bottle for liquid storage.", + "Catch the plastic bottle and shake it instantly.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Hold the yellow bottle for liquid storage steady, then shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Secure the bottle for liquid and perform a shake.", + "With the left arm, pick the bottle for liquid and shake properly.", + "Shake the medium plastic bottle with cap after lifting it.", + "Pick the bottle for liquid and perform shaking motion.", + "Pick the yellow bottle with dark label up with the left arm and shake.", + "Grab the yellow bottle with dark label and move it to shake.", + "Shake the the yellow bottle with dark label properly after lifting.", + "Hold the yellow bottle for liquid storage with the left arm and shake lightly.", + "Take the bottle with screw cap using the left arm and give it a shake.", + "Use the left arm to hold the bottle with screw cap and shake it.", + "Grab the plastic bottle with curved sides with the left arm and shake.", + "Hold the yellow bottle, shake it briefly.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Shake the handheld curvy bottle after holding it firmly.", + "Shake the plastic bottle firmly after grabbing.", + "Hold the yellow bottle with dark label and shake it properly.", + "Grab the yellow bottle and shake it steadily.", + "Shake the yellow bottle for liquid storage thoroughly after grabbing it.", + "Pick the handheld curvy bottle up using the left arm and shake it.", + "Grip the smooth plastic bottle using the left arm and shake.", + "Grab and shake the handheld curvy bottle using the left arm.", + "Pick up the yellow bottle and shake it well.", + "Pick the plastic bottle with curved sides, shake it with the left arm.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to lift and shake the yellow bottle.", + "Shake the medium plastic bottle with cap using the left arm after grabbing.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the medium plastic bottle with cap.", + "Shake the bottle with screw cap after grabbing it.", + "Lift the smooth plastic bottle and shake it gently.", + "Grab the bottle with screw cap using the left arm, then shake.", + "Secure the yellow bottle with dark label, shake it, and place it down.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Lift up the yellow bottle with blue label using the left arm, then shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake it.", + "Lift the bottle for liquid with the left arm and shake it.", + "Pick up the yellow bottle with blue label and shake it.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grasp the bottle for liquid with the left arm and shake it.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Lift the yellow bottle with blue label and shake it thoroughly.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Catch the smooth plastic bottle and shake it instantly.", + "Shake the yellow bottle after grabbing it.", + "Hold the handheld curvy bottle steady, then shake it.", + "Grab the bottle with screw cap and give it a shake." + ], + "unseen": [ + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode191.json b/shake_bottle/ur5_randomized_500/instructions/episode191.json new file mode 100644 index 0000000000000000000000000000000000000000..e3c31e6d6dad846847b76fd76eb2889dc5430808 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode191.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Hold the bottle with ridges near base steady, then shake it.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Shake the bottle with ridges near base after lifting it.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Pick the bottle with narrow top and perform shaking motion.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick the handheld green bottle, shake it with the right arm.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Lift the smooth green plastic bottle and shake it gently.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Grab the smooth green bottle carefully and shake.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Grab the bottle with white printed label and give it a shake.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Grab the medium green bottle with the right arm and shake.", + "Shake the the plastic bottle properly after lifting.", + "Grab the bottle with rounded neck and move it to shake.", + "Grab and shake the bottle with narrow top using the right arm.", + "Shake the bottle with narrow top after grabbing it.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Pick up the medium green bottle with capped neck and shake it.", + "Secure the green bottle with indented base and perform a shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grab the plastic bottle and shake it steadily.", + "Hold and shake the the bottle with ridges near base carefully.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick up the bottle with white printed label and shake it well.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Secure the smooth green bottle, shake it, and place it down.", + "Grab the handheld green bottle using the right arm, then shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the handheld green bottle, shake it briefly.", + "Lift the smooth green bottle and shake it thoroughly.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the medium green bottle.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Hold the plastic bottle steady, then shake it.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Shake the smooth green plastic bottle after lifting it.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Catch the bottle with narrow top and shake it instantly.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Pick the smooth green plastic bottle, shake it with the right arm.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Lift the bottle with narrow top and shake it gently.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Grab the bottle with rounded neck carefully and shake.", + "Grip the handheld green bottle using the right arm and shake.", + "Grab the bottle with rounded neck and give it a shake.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Grab the bottle with narrow top with the right arm and shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the smooth green plastic bottle and move it to shake.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Shake the medium green bottle after grabbing it.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Pick up the plastic bottle and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Grab the bottle with rounded neck and shake it steadily.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Shake the smooth green bottle after holding it firmly.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Pick up the green bottle with indented base and shake it well.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Hold the handheld green bottle and shake it properly.", + "Shake the plastic bottle after grabbing it.", + "Hold the bottle with rounded neck, shake it briefly.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Shake the smooth green plastic bottle after grabbing it." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode192.json b/shake_bottle/ur5_randomized_500/instructions/episode192.json new file mode 100644 index 0000000000000000000000000000000000000000..ac4ab211f31eadd81a4cc833567e40efcb47dbe1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode192.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the bottle for liquids using the left arm.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Lift the orange bottle and shake it thoroughly.", + "Grab the cylindrical orange bottle with yellow top and give it a shake.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Hold the bottle with yellow cap, shake it briefly.", + "Shake the orange cylindrical bottle after grabbing it.", + "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.", + "Grab the plastic bottle with sealed yellow cap and shake it steadily.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift the yellow-capped plastic bottle and shake it gently.", + "Lift up the yellow-capped plastic bottle using the left arm, then shake.", + "Hold the cylindrical orange bottle with yellow top and shake it properly.", + "Shake the bottle with yellow cap after holding it firmly.", + "Pick up the bottle with printed label and shake it well.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Secure the bottle with narrow neck, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with narrow neck.", + "Pick the plastic bottle with sealed yellow cap and perform shaking motion.", + "Shake the medium-sized orange bottle after grabbing it.", + "Pick the cylindrical orange bottle with yellow top, shake it with the left arm.", + "Grab the medium-sized orange bottle and move it to shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Lift the plastic bottle with sealed yellow cap with the left arm and give it a shake.", + "Use the left arm to grab the orange bottle and shake properly.", + "Shake the cylindrical orange bottle with yellow top using the left arm after grabbing.", + "Pick the plastic bottle up with the left arm and shake.", + "Shake the bottle with yellow cap after grabbing it.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Grab the bottle with narrow neck using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Utilize the left arm to hold the bottle with printed label and shake it.", + "Take the bottle for liquids using the left arm and give it a shake.", + "Grasp the yellow-capped plastic bottle with the left arm and shake it.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Grip the orange bottle using the left arm and shake.", + "Hold the yellow-capped plastic bottle with the left arm and shake lightly.", + "Grab the bottle for liquids carefully and shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Hold the bottle for liquids steady, then shake it.", + "With the left arm, pick the cylindrical orange bottle with yellow top and shake properly.", + "Use the left arm to pick and shake the orange bottle.", + "Grab the plastic bottle with sealed yellow cap with the left arm and shake.", + "Pick up the smooth plastic bottle and shake it.", + "Lift the bottle with narrow neck with the left arm and shake.", + "Shake the plastic bottle with sealed yellow cap after lifting it.", + "Grab and shake the bottle with printed label using the left arm.", + "Catch the bottle for liquids and shake it instantly.", + "Lift the orange bottle and shake it thoroughly.", + "Grab the cylindrical orange bottle with yellow top and give it a shake.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Lift the orange cylindrical bottle with the left arm and shake it.", + "Grab the plastic bottle and shake it steadily.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Lift the plastic bottle and shake it gently.", + "Lift up the plastic bottle with sealed yellow cap using the left arm, then shake.", + "Hold the plastic bottle with sealed yellow cap and shake it properly.", + "Shake the bottle for liquids after holding it firmly.", + "Pick up the yellow-capped plastic bottle and shake it well.", + "Pick the orange bottle up using the left arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the left arm to hold the orange bottle and shake it.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Grab the orange bottle and move it to shake.", + "Use the left arm to grab the medium-sized orange bottle and shake it.", + "Secure the smooth plastic bottle and perform a shake.", + "Shake the the plastic bottle with sealed yellow cap properly after lifting.", + "Lift the orange cylindrical bottle with the left arm and give it a shake.", + "Use the left arm to grab the orange bottle and shake properly.", + "Shake the bottle with narrow neck using the left arm after grabbing.", + "Pick the bottle with printed label up with the left arm and shake.", + "Shake the orange cylindrical bottle after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the plastic bottle with sealed yellow cap using the left arm, then shake.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Utilize the left arm to hold the bottle for liquids and shake it.", + "Take the cylindrical orange bottle with yellow top using the left arm and give it a shake.", + "Grasp the yellow-capped plastic bottle with the left arm and shake it.", + "Shake the orange cylindrical bottle firmly after grabbing.", + "Grip the orange cylindrical bottle using the left arm and shake.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Grab the smooth plastic bottle carefully and shake.", + "Hold and shake the the plastic bottle carefully.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "With the left arm, pick the bottle with printed label and shake properly.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Grab the yellow-capped plastic bottle with the left arm and shake.", + "Pick up the smooth plastic bottle and shake it.", + "Lift the orange cylindrical bottle with the left arm and shake.", + "Shake the smooth plastic bottle after lifting it." + ], + "unseen": [ + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode193.json b/shake_bottle/ur5_randomized_500/instructions/episode193.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb9489f37e562f2af816b931639936782c2b7a2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode193.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the rectangular-shaped bottle with round cap and shake it gently.", + "Pick the bottle with flat sides and logo up using the right arm and shake it.", + "Use the right arm to hold the smooth plastic bottle with white cap and shake it.", + "Use the right arm to lift and shake the dark brown bottle with a squared body.", + "Lift up the medium-sized brown plastic bottle using the right arm, then shake.", + "Lift the rectangular brown body with white top with the right arm and shake.", + "With the right arm, pick the dark brown bottle with a squared body and shake properly.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Shake the smooth brown bottle with green label using the right arm after grabbing.", + "Lift the brown bottle with rounded rectangular shape with the right arm and give it a shake.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Grab the dark brown bottle with a squared body using the right arm, then shake.", + "Grab the rectangular-shaped bottle with round cap with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to grab the brown bottle and shake it.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Shake the plastic bottle after grabbing it.", + "Take the rectangular-shaped bottle with round cap using the right arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Catch the brown bottle with rounded rectangular shape and shake it instantly.", + "Hold the brown bottle steady, then shake it.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Grasp the medium bottle with glossy surface with the right arm and shake it.", + "Pick the rectangular brown body with white top, shake it with the right arm.", + "Pick the bottle with green cap up with the right arm and shake.", + "Hold the rectangular brown body with white top with the right arm and shake lightly.", + "Secure the bottle with green cap and perform a shake.", + "Grab the smooth plastic bottle with white cap carefully and shake.", + "Use the right arm to pick and shake the bottle with flat sides and logo.", + "Hold the medium bottle with glossy surface and shake it properly.", + "Pick up the medium-sized brown plastic bottle and shake it well.", + "Shake the smooth brown bottle with green label after holding it firmly.", + "Use the right arm to grab the rectangular brown body with white top and shake properly.", + "Using the right arm, shake the dark brown bottle with a squared body and then place it back.", + "Use the right arm to lift and shake the dark brown bottle with a squared body.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Pick up the brown bottle with rounded rectangular shape and shake it.", + "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.", + "Use the right arm to lift and shake the brown bottle.", + "Utilize the right arm to hold the bottle with flat sides and logo and shake it.", + "Shake the smooth plastic bottle with white cap after lifting it.", + "Shake the rectangular brown body with white top thoroughly after grabbing it.", + "Grab and shake the bottle with green cap using the right arm.", + "Grab the bottle with flat sides and logo and shake it steadily.", + "Pick the brown bottle and perform shaking motion.", + "Grip the dark brown bottle with a squared body using the right arm and shake.", + "Lift the dark brown bottle with a squared body with the right arm and shake it.", + "Hold the brown bottle with rounded rectangular shape, shake it briefly.", + "Shake the medium bottle with glossy surface firmly after grabbing.", + "Hold and shake the the smooth brown bottle with green label carefully.", + "Lift the bottle with flat sides and logo and shake it gently.", + "Pick the medium-sized brown plastic bottle up using the right arm and shake it.", + "Use the right arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Use the right arm to lift and shake the smooth brown bottle with green label.", + "Lift up the brown bottle using the right arm, then shake.", + "Lift the smooth brown bottle with green label with the right arm and shake.", + "With the right arm, pick the rectangular brown body with white top and shake properly.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Shake the smooth plastic bottle with white cap using the right arm after grabbing.", + "Lift the brown bottle with the right arm and give it a shake.", + "Shake the the rectangular-shaped bottle with round cap properly after lifting.", + "Grab the dark brown bottle with a squared body using the right arm, then shake.", + "Grab the bottle with green cap with the right arm and shake.", + "Shake the brown bottle after grabbing it.", + "Use the right arm to grab the medium bottle with glossy surface and shake it.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Shake the brown bottle after grabbing it.", + "Take the brown bottle using the right arm and give it a shake.", + "Shake the bottle with green cap after grabbing it.", + "Catch the medium bottle with glossy surface and shake it instantly.", + "Hold the smooth brown bottle with green label steady, then shake it.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Grasp the smooth plastic bottle with white cap with the right arm and shake it.", + "Pick the dark brown bottle with a squared body, shake it with the right arm.", + "Pick the plastic bottle up with the right arm and shake.", + "Hold the rectangular brown body with white top with the right arm and shake lightly.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Grab the rectangular-shaped bottle with round cap carefully and shake.", + "Use the right arm to pick and shake the medium bottle with glossy surface.", + "Hold the plastic bottle and shake it properly.", + "Pick up the brown bottle with rounded rectangular shape and shake it well.", + "Shake the brown bottle with rounded rectangular shape after holding it firmly.", + "Use the right arm to grab the smooth plastic bottle with white cap and shake properly.", + "Using the right arm, shake the smooth plastic bottle with white cap and then place it back.", + "Use the right arm to lift and shake the bottle with flat sides and logo.", + "Lift the bottle with flat sides and logo and shake it thoroughly.", + "Pick up the medium-sized brown plastic bottle and shake it.", + "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Utilize the right arm to hold the dark brown bottle with a squared body and shake it.", + "Shake the rectangular-shaped bottle with round cap after lifting it.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Grab and shake the rectangular-shaped bottle with round cap using the right arm.", + "Grab the medium bottle with glossy surface and shake it steadily.", + "Pick the rectangular-shaped bottle with round cap and perform shaking motion.", + "Grip the brown bottle using the right arm and shake.", + "Lift the smooth plastic bottle with white cap with the right arm and shake it.", + "Hold the medium-sized brown plastic bottle, shake it briefly.", + "Shake the medium bottle with glossy surface firmly after grabbing.", + "Hold and shake the the medium-sized brown plastic bottle carefully." + ], + "unseen": [ + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode194.json b/shake_bottle/ur5_randomized_500/instructions/episode194.json new file mode 100644 index 0000000000000000000000000000000000000000..acfcb572e4517e869e12e67c55ffd17ca43aeb3f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode194.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the bottle with narrow top carefully.", + "Use the left arm to lift and shake the plastic bottle.", + "Catch the green bottle with indented base and shake it instantly.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "Hold the handheld green bottle steady, then shake it.", + "Grab the plastic bottle carefully and shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Shake the medium green bottle after grabbing it.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Grab the green bottle with indented base with the left arm and shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Shake the plastic bottle after lifting it.", + "Pick the handheld green bottle and perform shaking motion.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Pick the bottle with narrow top up with the left arm and shake.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Lift the bottle with ridges near base and shake it gently.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Grab and shake the handheld green bottle using the left arm.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Shake the the bottle with narrow top properly after lifting.", + "Shake the bottle with white printed label firmly after grabbing.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grip the bottle with white printed label using the left arm and shake.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Grab the bottle with white printed label and give it a shake.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Pick up the handheld green bottle and shake it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Use the left arm to lift and shake the smooth green bottle.", + "Catch the medium-sized green bottle and shake it instantly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Hold the smooth green bottle steady, then shake it.", + "Grab the medium green bottle carefully and shake.", + "Shake the bottle with narrow top after holding it firmly.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Pick the medium green bottle up using the left arm and shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Grab the plastic bottle with the left arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Shake the medium green bottle after lifting it.", + "Pick the bottle with white printed label and perform shaking motion.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Lift the bottle with white printed label and shake it gently.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Shake the medium green bottle using the left arm after grabbing.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Pick up the medium green bottle and shake it well.", + "Shake the the bottle with white printed label properly after lifting.", + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the green bottle with indented base after grabbing it.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Grab the bottle with narrow top and move it to shake.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grip the bottle with narrow top using the left arm and shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the bottle with rounded neck and shake it properly.", + "Grab the bottle with rounded neck and give it a shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Pick up the handheld green bottle and shake it." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode195.json b/shake_bottle/ur5_randomized_500/instructions/episode195.json new file mode 100644 index 0000000000000000000000000000000000000000..42ea65c4794e7bf3facf592d7e29bb4f52956566 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode195.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the green bottle with black text label with the left arm and shake it.", + "Hold the green bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the green bottle with white label.", + "Shake the green bottle with white label after grabbing it.", + "Hold and shake the the green bottle carefully.", + "Shake the green bottle with white label thoroughly after grabbing it.", + "Use the left arm to lift and shake the green bottle.", + "Pick the cylindrical bottle with rounded cap up using the left arm and shake it.", + "Utilize the left arm to hold the handheld plastic bottle and shake it.", + "Use the left arm to grab the medium bottle with green body and shake properly.", + "Grip the green bottle with white label using the left arm and shake.", + "Grasp the bottle with yellow cap with the left arm and shake it.", + "Lift the smooth green and yellow bottle and shake it thoroughly.", + "Shake the cylindrical liquid bottle with yellow top using the left arm after grabbing.", + "Pick up the plastic bottle with colored label and shake it well.", + "Use the left arm to hold the smooth green and yellow bottle and shake it.", + "Shake the bottle with yellow cap after grabbing it.", + "Grab the handheld plastic bottle firmly, shake it, and put it down.", + "Using the left arm, shake the plastic bottle with colored label and then place it back.", + "Use the left arm to pick and shake the green bottle.", + "Grab and shake the green bottle with black text label using the left arm.", + "Grab the bottle with yellow cap using the left arm, then shake.", + "Pick the medium bottle with green body, shake it with the left arm.", + "Lift the bottle with yellow cap with the left arm and shake.", + "Take the bottle with yellow cap using the left arm and give it a shake.", + "Lift up the bottle with yellow cap using the left arm, then shake.", + "Secure the green bottle with white label and perform a shake.", + "Use the left arm to lift and shake the bottle with glossy plastic finish.", + "Grab the green bottle with white label carefully and shake.", + "Use the left arm to grab the green bottle and shake it.", + "Grab the green bottle with black text label and move it to shake.", + "Lift the cylindrical liquid bottle with yellow top and shake it gently.", + "Shake the the plastic bottle with colored label properly after lifting.", + "Catch the plastic bottle and shake it instantly.", + "Hold the handheld plastic bottle, shake it briefly.", + "Grab the green bottle with the left arm and shake.", + "Shake the medium bottle with green body after holding it firmly.", + "Grab the plastic bottle with colored label and shake it steadily.", + "Grab the plastic bottle with colored label and give it a shake.", + "Hold the bottle with glossy plastic finish and shake it properly.", + "Hold the plastic bottle steady, then shake it.", + "With the left arm, pick the green bottle and shake properly.", + "Pick the green bottle with white label and perform shaking motion.", + "Lift the green bottle with black text label with the left arm and give it a shake.", + "Pick the cylindrical bottle with rounded cap up with the left arm and shake.", + "Pick up the smooth green and yellow bottle and shake it.", + "Shake the bottle with yellow cap after lifting it.", + "Shake the medium bottle with green body firmly after grabbing.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Lift the bottle with glossy plastic finish with the left arm and shake it.", + "Hold the green bottle with white label with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with glossy plastic finish.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Hold and shake the the smooth green and yellow bottle carefully.", + "Shake the green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the plastic bottle with colored label.", + "Pick the cylindrical liquid bottle with yellow top up using the left arm and shake it.", + "Utilize the left arm to hold the bottle with yellow cap and shake it.", + "Use the left arm to grab the cylindrical bottle with rounded cap and shake properly.", + "Grip the green bottle with white label using the left arm and shake.", + "Grasp the cylindrical bottle with rounded cap with the left arm and shake it.", + "Lift the green bottle with white label and shake it thoroughly.", + "Shake the smooth green and yellow bottle using the left arm after grabbing.", + "Pick up the bottle with yellow cap and shake it well.", + "Use the left arm to hold the medium bottle with green body and shake it.", + "Shake the green bottle with white label after grabbing it.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Using the left arm, shake the green bottle with black text label and then place it back.", + "Use the left arm to pick and shake the plastic bottle with colored label.", + "Grab and shake the handheld plastic bottle using the left arm.", + "Grab the plastic bottle using the left arm, then shake.", + "Pick the bottle with yellow cap, shake it with the left arm.", + "Lift the bottle with yellow cap with the left arm and shake.", + "Take the green bottle with black text label using the left arm and give it a shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Secure the bottle with yellow cap and perform a shake.", + "Use the left arm to lift and shake the green bottle.", + "Grab the green bottle carefully and shake.", + "Use the left arm to grab the bottle with yellow cap and shake it.", + "Grab the green bottle and move it to shake.", + "Lift the green bottle and shake it gently.", + "Shake the the smooth green and yellow bottle properly after lifting.", + "Catch the handheld plastic bottle and shake it instantly.", + "Hold the cylindrical liquid bottle with yellow top, shake it briefly.", + "Grab the cylindrical liquid bottle with yellow top with the left arm and shake.", + "Shake the green bottle with white label after holding it firmly.", + "Grab the cylindrical liquid bottle with yellow top and shake it steadily.", + "Grab the bottle with yellow cap and give it a shake.", + "Hold the plastic bottle and shake it properly.", + "Hold the bottle with yellow cap steady, then shake it.", + "With the left arm, pick the bottle with glossy plastic finish and shake properly.", + "Pick the smooth green and yellow bottle and perform shaking motion.", + "Lift the bottle with yellow cap with the left arm and give it a shake.", + "Pick the cylindrical liquid bottle with yellow top up with the left arm and shake.", + "Pick up the bottle with yellow cap and shake it.", + "Shake the plastic bottle after lifting it.", + "Shake the green bottle with black text label firmly after grabbing.", + "Secure the green bottle, shake it, and place it down.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it." + ], + "unseen": [ + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Use the left arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Use the left arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Use the left arm to pick the bottle with green base and black prints.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Use the left arm to pick the bottle with green base and black prints.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode196.json b/shake_bottle/ur5_randomized_500/instructions/episode196.json new file mode 100644 index 0000000000000000000000000000000000000000..e4821364f7f7a2486cb05299d1c9251697732e21 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode196.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle with sealed yellow cap up with the right arm and shake.", + "Grip the yellow-capped plastic bottle using the right arm and shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Using the right arm, shake the bottle with printed label and then place it back.", + "Pick up the bottle with yellow cap and shake it well.", + "Secure the bottle for liquids, shake it, and place it down.", + "Use the right arm to hold the bottle with printed label and shake it.", + "Take the cylindrical orange bottle with yellow top using the right arm and give it a shake.", + "Use the right arm to grab the cylindrical orange bottle with yellow top and shake it.", + "Use the right arm to lift and shake the bottle with printed label.", + "Grab the bottle with printed label using the right arm, then shake.", + "Shake the orange cylindrical bottle after grabbing it.", + "Shake the orange bottle after lifting it.", + "Lift the medium-sized orange bottle with the right arm and shake.", + "Grab the plastic bottle with sealed yellow cap and shake it steadily.", + "Lift the orange cylindrical bottle and shake it gently.", + "Utilize the right arm to hold the medium-sized orange bottle and shake it.", + "Use the right arm to grab the orange cylindrical bottle and shake properly.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.", + "Hold the smooth plastic bottle, shake it briefly.", + "With the right arm, pick the medium-sized orange bottle and shake properly.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Shake the bottle for liquids after grabbing it.", + "Pick the plastic bottle, shake it with the right arm.", + "Pick up the yellow-capped plastic bottle and shake it.", + "Hold and shake the the smooth plastic bottle carefully.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Shake the smooth plastic bottle after holding it firmly.", + "Grab and shake the plastic bottle using the right arm.", + "Shake the the orange cylindrical bottle properly after lifting.", + "Grab the bottle for liquids carefully and shake.", + "Grab the bottle with yellow cap and give it a shake.", + "Pick the bottle with printed label up using the right arm and shake it.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Hold the cylindrical orange bottle with yellow top and shake it properly.", + "Catch the plastic bottle with sealed yellow cap and shake it instantly.", + "Pick the orange cylindrical bottle and perform shaking motion.", + "Lift the orange cylindrical bottle with the right arm and give it a shake.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Lift the orange cylindrical bottle with the right arm and shake it.", + "Grab the bottle with printed label with the right arm and shake.", + "Use the right arm to pick and shake the bottle for liquids.", + "Secure the yellow-capped plastic bottle and perform a shake.", + "Pick the bottle for liquids up with the right arm and shake.", + "Grip the bottle for liquids using the right arm and shake.", + "Grasp the medium-sized orange bottle with the right arm and shake it.", + "Hold the bottle for liquids with the right arm and shake lightly.", + "Using the right arm, shake the yellow-capped plastic bottle and then place it back.", + "Pick up the smooth plastic bottle and shake it well.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Take the orange cylindrical bottle using the right arm and give it a shake.", + "Use the right arm to grab the plastic bottle with sealed yellow cap and shake it.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the bottle with printed label after lifting it.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Lift the plastic bottle and shake it gently.", + "Utilize the right arm to hold the bottle with narrow neck and shake it.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Grab the bottle with yellow cap and move it to shake.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Hold the medium-sized orange bottle, shake it briefly.", + "With the right arm, pick the bottle with printed label and shake properly.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Hold the orange cylindrical bottle steady, then shake it.", + "Shake the medium-sized orange bottle after grabbing it.", + "Pick the bottle with printed label, shake it with the right arm.", + "Pick up the orange bottle and shake it.", + "Hold and shake the the yellow-capped plastic bottle carefully.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the orange bottle after holding it firmly.", + "Grab and shake the medium-sized orange bottle using the right arm.", + "Shake the the smooth plastic bottle properly after lifting.", + "Grab the orange bottle carefully and shake.", + "Grab the orange bottle and give it a shake.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Lift up the orange cylindrical bottle using the right arm, then shake.", + "Hold the plastic bottle and shake it properly.", + "Catch the bottle with yellow cap and shake it instantly.", + "Pick the bottle with printed label and perform shaking motion.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.", + "Lift the orange cylindrical bottle with the right arm and shake it.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Use the right arm to pick and shake the bottle with narrow neck.", + "Secure the bottle for liquids and perform a shake." + ], + "unseen": [ + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the handheld orange bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode197.json b/shake_bottle/ur5_randomized_500/instructions/episode197.json new file mode 100644 index 0000000000000000000000000000000000000000..f977523783e56ea76c80822867d5b75617c7dfc3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode197.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth plastic bottle firmly after grabbing.", + "Use the left arm to pick and shake the white and orange plastic bottle.", + "Shake the medium orange bottle after grabbing it.", + "Grip the drinking bottle with yellow label using the left arm and shake.", + "Use the left arm to lift and shake the yellow label bottle.", + "Pick the white and orange plastic bottle, shake it with the left arm.", + "Grab the drinking bottle with yellow label and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Pick up the cylindrical orange and white bottle and shake it well.", + "Hold the yellow label bottle and shake it properly.", + "Lift the medium bottle with orange lid with the left arm and give it a shake.", + "Shake the white and orange plastic bottle using the left arm after grabbing.", + "Shake the the smooth plastic bottle properly after lifting.", + "Secure the white and orange plastic bottle, shake it, and place it down.", + "Grasp the medium orange bottle with the left arm and shake it.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Hold the medium orange bottle steady, then shake it.", + "Grab the bottle with orange cap carefully and shake.", + "Grab the medium bottle with orange lid using the left arm, then shake.", + "Secure the orange and white bottle with cap and perform a shake.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Lift the bottle with orange cap with the left arm and shake it.", + "Lift up the medium bottle with orange lid using the left arm, then shake.", + "Pick the cylindrical orange and white bottle up with the left arm and shake.", + "Grab the drinking bottle with yellow label and shake it steadily.", + "Pick the bottle with orange cap and perform shaking motion.", + "Hold and shake the the bottle with orange cap carefully.", + "Pick the drinking bottle with yellow label up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Use the left arm to grab the bottle with ribbed orange bottom and shake it.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Lift the orange and white bottle with cap with the left arm and shake.", + "Grab and shake the medium bottle with orange lid using the left arm.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grab the orange bottle and move it to shake.", + "With the left arm, pick the cylindrical orange and white bottle and shake properly.", + "Grab the orange and white bottle with cap firmly, shake it, and put it down.", + "Lift the white and orange plastic bottle and shake it gently.", + "Utilize the left arm to hold the bottle with orange cap and shake it.", + "Lift the bottle with orange cap and shake it thoroughly.", + "Pick up the orange and white bottle with cap and shake it.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Shake the medium bottle with orange lid after grabbing it.", + "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Use the left arm to lift and shake the medium orange bottle.", + "Shake the bottle with orange cap after grabbing it.", + "Use the left arm to grab the white and orange plastic bottle and shake properly.", + "Hold the orange bottle with the left arm and shake lightly.", + "Shake the white and orange plastic bottle firmly after grabbing.", + "Use the left arm to pick and shake the orange bottle.", + "Shake the medium orange bottle after grabbing it.", + "Grip the orange and white bottle with cap using the left arm and shake.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "Pick the drinking bottle with yellow label, shake it with the left arm.", + "Grab the orange and white bottle with cap and give it a shake.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Pick up the medium orange bottle and shake it well.", + "Hold the orange and white bottle with cap and shake it properly.", + "Lift the orange bottle with the left arm and give it a shake.", + "Shake the orange bottle using the left arm after grabbing.", + "Shake the the orange bottle properly after lifting.", + "Secure the white and orange plastic bottle, shake it, and place it down.", + "Grasp the orange and white bottle with cap with the left arm and shake it.", + "Using the left arm, shake the white and orange plastic bottle and then place it back.", + "Hold the medium bottle with orange lid steady, then shake it.", + "Grab the orange bottle carefully and shake.", + "Grab the medium bottle with orange lid using the left arm, then shake.", + "Secure the bottle with orange cap and perform a shake.", + "Grab the cylindrical orange and white bottle with the left arm and shake.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Lift the orange bottle with the left arm and shake it.", + "Lift up the bottle with orange cap using the left arm, then shake.", + "Pick the white and orange plastic bottle up with the left arm and shake.", + "Grab the cylindrical orange and white bottle and shake it steadily.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Hold and shake the the yellow label bottle carefully.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the medium orange bottle.", + "Use the left arm to grab the yellow label bottle and shake it.", + "Hold the medium bottle with orange lid, shake it briefly.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Grab and shake the drinking bottle with yellow label using the left arm.", + "Use the left arm to hold the drinking bottle with yellow label and shake it.", + "Grab the orange bottle and move it to shake.", + "With the left arm, pick the orange and white bottle with cap and shake properly.", + "Grab the medium bottle with orange lid firmly, shake it, and put it down.", + "Lift the white and orange plastic bottle and shake it gently.", + "Utilize the left arm to hold the bottle with ribbed orange bottom and shake it.", + "Lift the bottle with ribbed orange bottom and shake it thoroughly.", + "Pick up the yellow label bottle and shake it.", + "Shake the bottle with ribbed orange bottom after holding it firmly.", + "Shake the orange bottle after grabbing it.", + "Shake the cylindrical orange and white bottle thoroughly after grabbing it.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Use the left arm to lift and shake the yellow label bottle.", + "Shake the medium bottle with orange lid after grabbing it.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Hold the medium orange bottle with the left arm and shake lightly." + ], + "unseen": [ + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode198.json b/shake_bottle/ur5_randomized_500/instructions/episode198.json new file mode 100644 index 0000000000000000000000000000000000000000..757193fd5f79f74ccd605329ff1153fae29c7c62 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode198.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the green bottle with indented base and move it to shake.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Catch the smooth green bottle and shake it instantly.", + "Shake the medium green bottle after holding it firmly.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Use the left arm to pick and shake the medium green bottle.", + "Grab the bottle with ridges near base and shake it steadily.", + "Hold the plastic bottle steady, then shake it.", + "Pick up the medium green bottle with capped neck and shake it.", + "Hold and shake the the bottle with white printed label carefully.", + "Grab the smooth green plastic bottle carefully and shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Pick up the plastic bottle and shake it well.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Lift the green bottle with indented base and shake it gently.", + "Grab the smooth green bottle using the left arm, then shake.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Hold the bottle with white printed label and shake it properly.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Shake the smooth green bottle firmly after grabbing.", + "Shake the bottle with ridges near base after lifting it.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the smooth green plastic bottle and give it a shake.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Pick the smooth green bottle, shake it with the left arm.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Shake the medium green bottle after grabbing it.", + "Grab and shake the medium green bottle using the left arm.", + "Grasp the medium green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Secure the bottle with white printed label and perform a shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Grab the bottle with white printed label and move it to shake.", + "Hold the plastic bottle, shake it briefly.", + "Catch the bottle with white printed label and shake it instantly.", + "Shake the bottle with narrow top after holding it firmly.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Use the left arm to pick and shake the smooth green bottle.", + "Grab the bottle with white printed label and shake it steadily.", + "Hold the green bottle with indented base steady, then shake it.", + "Pick up the bottle with white printed label and shake it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Grab the bottle with rounded neck carefully and shake.", + "Shake the the medium green bottle properly after lifting.", + "Pick up the bottle with ridges near base and shake it well.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the medium green bottle with the left arm and shake.", + "Lift the green bottle with indented base and shake it gently.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Hold the bottle with ridges near base and shake it properly.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Shake the smooth green plastic bottle after lifting it.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Grab the handheld green bottle and give it a shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Lift the handheld green bottle with the left arm and shake it.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Shake the plastic bottle after grabbing it.", + "Grab and shake the bottle with white printed label using the left arm.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the green bottle with indented base with the left arm and shake.", + "Secure the medium green bottle with capped neck, shake it, and place it down." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode199.json b/shake_bottle/ur5_randomized_500/instructions/episode199.json new file mode 100644 index 0000000000000000000000000000000000000000..c9ac63d1da75dd4442412b567be5df4dc0b06d18 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode199.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth green bottle and shake it steadily.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Grab the bottle with white printed label and move it to shake.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Grab the green bottle with indented base and give it a shake.", + "Shake the smooth green bottle after grabbing it.", + "Shake the smooth green bottle after lifting it.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Grip the plastic bottle using the left arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Shake the the medium-sized green bottle properly after lifting.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Grab and shake the green bottle with indented base using the left arm.", + "Pick up the bottle with rounded neck and shake it well.", + "Shake the bottle with narrow top firmly after grabbing.", + "Shake the smooth green plastic bottle after grabbing it.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Hold and shake the the medium green bottle carefully.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Grab the handheld green bottle carefully and shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Catch the bottle with white printed label and shake it instantly.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Hold the bottle with narrow top steady, then shake it.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Lift the green bottle with indented base and shake it gently.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Use the left arm to pick and shake the smooth green bottle.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Pick up the bottle with narrow top and shake it.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Hold the bottle with white printed label and shake it properly.", + "Grab the smooth green bottle and shake it steadily.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Grab the bottle with narrow top and move it to shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Grab the plastic bottle and give it a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the green bottle with indented base after lifting it.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Grip the smooth green bottle using the left arm and shake.", + "Secure the green bottle with indented base and perform a shake.", + "Shake the the bottle with white printed label properly after lifting.", + "Lift the handheld green bottle with the left arm and shake it.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grab and shake the handheld green bottle using the left arm.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Shake the bottle with narrow top after grabbing it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Hold and shake the the medium-sized green bottle carefully.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Grab the handheld green bottle carefully and shake.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Catch the smooth green bottle and shake it instantly.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the bottle with rounded neck steady, then shake it.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Hold the handheld green bottle, shake it briefly.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Lift the handheld green bottle and shake it gently.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Shake the medium green bottle after grabbing it.", + "Use the left arm to pick and shake the medium green bottle.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Lift the plastic bottle with the left arm and shake.", + "Hold the smooth green plastic bottle and shake it properly." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode2.json b/shake_bottle/ur5_randomized_500/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..12ec5f80c9c72bc5952ec8b5f4fd466feceea383 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with white cap after lifting it.", + "Lift up the bottle with a smooth plastic body using the left arm, then shake.", + "Lift the medium rectangular yellow bottle with the left arm and shake it.", + "Lift the bottle with a smooth plastic body with the left arm and give it a shake.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Hold the bottle with a smooth plastic body with the left arm and shake lightly.", + "Shake the yellow bottle with a green design after grabbing it.", + "Use the left arm to lift and shake the yellow bottle.", + "Take the yellow container with rounded edges using the left arm and give it a shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Pick up the smooth bottle with rounded edges and shake it.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Hold the yellow bottle and shake it properly.", + "Shake the the smooth bottle with rounded edges properly after lifting.", + "Pick the yellow bottle up using the left arm and shake it.", + "Use the left arm to hold the yellow bottle with a green design and shake it.", + "Use the left arm to pick and shake the bottle with green and white labels.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Shake the bottle with a smooth plastic body using the left arm after grabbing.", + "Hold the bottle with white cap steady, then shake it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Use the left arm to grab the medium rectangular yellow bottle and shake properly.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Grab the plastic bottle using the left arm, then shake.", + "Catch the yellow bottle with a green design and shake it instantly.", + "Grip the bottle with green and white labels using the left arm and shake.", + "Pick up the bottle with a smooth plastic body and shake it well.", + "Grab the medium rectangular yellow bottle with the left arm and shake.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Pick the bottle with green label and perform shaking motion.", + "Pick the rectangular bottle with cylindrical neck up with the left arm and shake.", + "Grab the bottle with green label and give it a shake.", + "Shake the bottle with green and white labels firmly after grabbing.", + "Utilize the left arm to hold the bottle with green label and shake it.", + "Use the left arm to lift and shake the yellow bottle.", + "Grab the bottle with green and white labels and move it to shake.", + "With the left arm, pick the medium rectangular yellow bottle and shake properly.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Grab the bottle with green label and shake it steadily.", + "Using the left arm, shake the bottle with a smooth plastic body and then place it back.", + "Use the left arm to grab the yellow bottle and shake it.", + "Grab and shake the medium rectangular yellow bottle using the left arm.", + "Lift the yellow bottle and shake it gently.", + "Grasp the bottle with green and white labels with the left arm and shake it.", + "Secure the bottle with green label and perform a shake.", + "Lift the bottle with white cap with the left arm and shake.", + "Shake the bottle with a smooth plastic body after lifting it.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Lift the rectangular bottle with cylindrical neck with the left arm and give it a shake.", + "Hold and shake the the bottle with white cap carefully.", + "Hold the yellow container with rounded edges with the left arm and shake lightly.", + "Shake the bottle with green label after grabbing it.", + "Use the left arm to lift and shake the medium rectangular yellow bottle.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Pick up the bottle with green and white labels and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Hold the smooth bottle with rounded edges and shake it properly.", + "Shake the the bottle with white cap properly after lifting.", + "Pick the yellow bottle up using the left arm and shake it.", + "Use the left arm to hold the medium rectangular yellow bottle and shake it.", + "Use the left arm to pick and shake the bottle with green and white labels.", + "Shake the rectangular bottle with cylindrical neck after holding it firmly.", + "Grab the smooth bottle with rounded edges carefully and shake.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.", + "Use the left arm to grab the bottle with a smooth plastic body and shake properly.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Grab the medium rectangular yellow bottle using the left arm, then shake.", + "Catch the bottle with white cap and shake it instantly.", + "Grip the yellow plastic bottle with white top using the left arm and shake.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Shake the yellow container with rounded edges thoroughly after grabbing it.", + "Pick the yellow container with rounded edges and perform shaking motion.", + "Pick the rectangular bottle with cylindrical neck up with the left arm and shake.", + "Grab the yellow plastic bottle with white top and give it a shake.", + "Shake the bottle with green label firmly after grabbing.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Use the left arm to lift and shake the bottle with green label.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "With the left arm, pick the yellow container with rounded edges and shake properly.", + "Pick the yellow container with rounded edges, shake it with the left arm.", + "Grab the bottle with green and white labels and shake it steadily.", + "Using the left arm, shake the medium rectangular yellow bottle and then place it back.", + "Use the left arm to grab the bottle with green label and shake it.", + "Grab and shake the bottle with green label using the left arm.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Secure the yellow container with rounded edges and perform a shake.", + "Lift the plastic bottle with the left arm and shake." + ], + "unseen": [ + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode20.json b/shake_bottle/ur5_randomized_500/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..a1180363709d6425093934dec2285cd492541706 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the small drink bottle with logo with the left arm and shake lightly.", + "Hold the hand-sized bottle with grooves, shake it briefly.", + "Shake the brown bottle with green screw-on cap after lifting it.", + "Grab the small brown plastic bottle and move it to shake.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Pick up the small drink bottle with logo and shake it well.", + "Grab the hand-sized bottle with grooves and shake it steadily.", + "Use the left arm to lift and shake the bottle with green cap.", + "Shake the smooth plastic bottle for beverages using the left arm after grabbing.", + "Hold and shake the the smooth plastic bottle for beverages carefully.", + "Hold the plastic bottle with ribbed pattern and shake it properly.", + "Grab the plastic bottle with ribbed pattern using the left arm, then shake.", + "Lift up the plastic bottle with ribbed pattern using the left arm, then shake.", + "Grab and shake the brown bottle with green screw-on cap using the left arm.", + "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.", + "Utilize the left arm to hold the bottle with green cap and shake it.", + "Using the left arm, shake the hand-sized bottle with grooves and then place it back.", + "Use the left arm to hold the brown bottle with white printed label and shake it.", + "Use the left arm to lift and shake the green-capped bottle.", + "Grasp the brown bottle with green screw-on cap with the left arm and shake it.", + "Grab the cylindrical bottle with white label and give it a shake.", + "Lift the cylindrical bottle with white label with the left arm and shake.", + "Lift the brown bottle with green screw-on cap and shake it gently.", + "Grab the brown bottle with white printed label carefully and shake.", + "Shake the green-capped bottle after grabbing it.", + "Grip the bottle with tapered cylindrical shape using the left arm and shake.", + "Pick the plastic bottle with ribbed pattern up using the left arm and shake it.", + "Lift the green-capped bottle with the left arm and shake it.", + "Shake the hand-sized bottle with grooves after holding it firmly.", + "Grab the bottle with green cap firmly, shake it, and put it down.", + "Take the hand-sized bottle with grooves using the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle with ribbed pattern and shake it.", + "With the left arm, pick the brown bottle with white printed label and shake properly.", + "Grab the bottle with green cap with the left arm and shake.", + "Use the left arm to pick and shake the brown bottle with green screw-on cap.", + "Pick the bottle with green cap, shake it with the left arm.", + "Secure the bottle with tapered cylindrical shape and perform a shake.", + "Shake the small drink bottle with logo after grabbing it.", + "Shake the the green-capped bottle properly after lifting.", + "Shake the smooth plastic bottle for beverages firmly after grabbing.", + "Lift the bottle with green cap with the left arm and give it a shake.", + "Catch the green-capped bottle and shake it instantly.", + "Lift the hand-sized bottle with grooves and shake it thoroughly.", + "Pick up the brown bottle with white printed label and shake it.", + "Secure the green-capped bottle, shake it, and place it down.", + "Pick the small brown plastic bottle and perform shaking motion.", + "Use the left arm to grab the brown bottle and shake properly.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Hold the small brown plastic bottle steady, then shake it.", + "Pick the brown bottle up with the left arm and shake.", + "Hold the small brown plastic bottle with the left arm and shake lightly.", + "Hold the small brown plastic bottle, shake it briefly.", + "Shake the bottle with tapered cylindrical shape after lifting it.", + "Grab the green-capped bottle and move it to shake.", + "Shake the small brown plastic bottle after grabbing it.", + "Pick up the small drink bottle with logo and shake it well.", + "Grab the smooth plastic bottle for beverages and shake it steadily.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Shake the brown bottle with green screw-on cap using the left arm after grabbing.", + "Hold and shake the the cylindrical bottle with white label carefully.", + "Hold the green-capped bottle and shake it properly.", + "Grab the smooth plastic bottle for beverages using the left arm, then shake.", + "Lift up the small brown plastic bottle using the left arm, then shake.", + "Grab and shake the brown bottle with green screw-on cap using the left arm.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Utilize the left arm to hold the bottle with tapered cylindrical shape and shake it.", + "Using the left arm, shake the cylindrical bottle with white label and then place it back.", + "Use the left arm to hold the plastic bottle with ribbed pattern and shake it.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Grasp the small drink bottle with logo with the left arm and shake it.", + "Grab the bottle with tapered cylindrical shape and give it a shake.", + "Lift the brown bottle with green screw-on cap with the left arm and shake.", + "Lift the cylindrical bottle with white label and shake it gently.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Shake the green-capped bottle after grabbing it.", + "Grip the brown bottle with white printed label using the left arm and shake.", + "Pick the bottle with green cap up using the left arm and shake it.", + "Lift the hand-sized bottle with grooves with the left arm and shake it.", + "Shake the brown bottle with green screw-on cap after holding it firmly.", + "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.", + "Take the plastic bottle with ribbed pattern using the left arm and give it a shake.", + "Use the left arm to grab the brown bottle with white printed label and shake it.", + "With the left arm, pick the plastic bottle with ribbed pattern and shake properly.", + "Grab the bottle with tapered cylindrical shape with the left arm and shake.", + "Use the left arm to pick and shake the brown bottle with green screw-on cap.", + "Pick the bottle with green cap, shake it with the left arm.", + "Secure the hand-sized bottle with grooves and perform a shake.", + "Shake the bottle with green cap after grabbing it.", + "Shake the the bottle with tapered cylindrical shape properly after lifting.", + "Shake the small brown plastic bottle firmly after grabbing.", + "Lift the small brown plastic bottle with the left arm and give it a shake.", + "Catch the bottle with tapered cylindrical shape and shake it instantly.", + "Lift the small drink bottle with logo and shake it thoroughly.", + "Pick up the green-capped bottle and shake it.", + "Secure the small brown plastic bottle, shake it, and place it down.", + "Pick the plastic bottle with ribbed pattern and perform shaking motion.", + "Use the left arm to grab the bottle with green cap and shake properly.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Hold the brown bottle with white printed label steady, then shake it.", + "Pick the small brown plastic bottle up with the left arm and shake." + ], + "unseen": [ + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode200.json b/shake_bottle/ur5_randomized_500/instructions/episode200.json new file mode 100644 index 0000000000000000000000000000000000000000..ce75928e340502d8d7633c084e8da47cd097ba28 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode200.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the dark drink bottle with logo carefully and shake.", + "Use the left arm to grab the long thin bottle and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Grab the bottle with white neck and red top and give it a shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Shake the the red-capped bottle properly after lifting.", + "Take the long thin bottle using the left arm and give it a shake.", + "Secure the plastic drink bottle and perform a shake.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab and shake the long thin bottle using the left arm.", + "Pick the long thin bottle, shake it with the left arm.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Secure the long thin bottle, shake it, and place it down.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Pick up the brown bottle with red label and shake it.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Hold the narrow-necked bottle and shake it properly.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Use the left arm to lift and shake the long thin bottle.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Shake the long thin bottle after lifting it.", + "Hold and shake the the brown bottle with red label carefully.", + "Lift the Coca-Cola bottle and shake it gently.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Pick up the smooth bottle with red lid and shake it well.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Grab the smooth bottle with red lid and move it to shake.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Grab the narrow-necked bottle carefully and shake.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Grab the Coca-Cola bottle and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Pick the red-capped bottle up with the left arm and shake.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Shake the the long thin bottle properly after lifting.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Lift the brown bottle with red label with the left arm and shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the long thin bottle using the left arm, then shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Use the left arm to pick and shake the red-capped bottle.", + "Pick up the hand-sized soda bottle and shake it.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Hold the dark drink bottle with logo and shake it properly.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Hold the narrow-necked bottle steady, then shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Grip the brown bottle with red label using the left arm and shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Shake the bottle with white neck and red top after lifting it.", + "Hold and shake the the plastic drink bottle carefully.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Grab the brown bottle with red label and move it to shake.", + "With the left arm, pick the bottle with ridges on bottom and shake properly." + ], + "unseen": [ + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode201.json b/shake_bottle/ur5_randomized_500/instructions/episode201.json new file mode 100644 index 0000000000000000000000000000000000000000..6c8a609014848d6aac6ab12f17a2d9767e20b962 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode201.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Hold the smooth bottle with red lid and shake it properly.", + "Secure the plastic drink bottle and perform a shake.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick up the red-capped bottle and shake it well.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Shake the red-capped bottle after grabbing it.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab the red-capped bottle and move it to shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Use the right arm to lift and shake the red-capped bottle.", + "Catch the medium dark brown bottle and shake it instantly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Lift up the long thin bottle using the right arm, then shake.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Hold the narrow-necked bottle, shake it briefly.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Shake the the brown bottle with red label properly after lifting.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the Coca-Cola bottle after lifting it.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Pick up the brown bottle with red label and shake it.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Lift the plastic drink bottle with the right arm and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Secure the bottle with white neck and red top and perform a shake.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Shake the plastic drink bottle after grabbing it.", + "Pick up the brown bottle with red label and shake it well.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Grab the long thin bottle and give it a shake.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the plastic drink bottle carefully and shake.", + "Grab the bottle with white neck and red top and move it to shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Using the right arm, shake the long thin bottle and then place it back.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Shake the medium dark brown bottle after holding it firmly.", + "Grab the plastic drink bottle and shake it steadily.", + "Shake the brown bottle with red label after lifting it.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick up the Coca-Cola bottle and shake it.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Take the narrow-necked bottle using the right arm and give it a shake." + ], + "unseen": [ + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode202.json b/shake_bottle/ur5_randomized_500/instructions/episode202.json new file mode 100644 index 0000000000000000000000000000000000000000..a328d67dc3b7d2d783575e1f1859a993cfff62b8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode202.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle with bright red color using the left arm, then shake.", + "Hold the red bottle with curved grooves with the left arm and shake lightly.", + "Grab the red bottle with curved grooves and give it a shake.", + "Use the left arm to lift and shake the red bottle.", + "Pick the plastic bottle with bright red color, shake it with the left arm.", + "Lift up the red bottle with curved grooves using the left arm, then shake.", + "Shake the red bottle using the left arm after grabbing.", + "Catch the medium-size plastic bottle and shake it instantly.", + "Shake the yellow text bottle after holding it firmly.", + "Shake the medium-size plastic bottle after grabbing it.", + "Lift the plastic bottle and shake it gently.", + "Pick up the red bottle with white bottom text and shake it well.", + "Grab the bottle with red cap carefully and shake.", + "Grip the bottle with red cap using the left arm and shake.", + "Use the left arm to lift and shake the red bottle with screw cap.", + "Shake the red bottle with white bottom text thoroughly after grabbing it.", + "Utilize the left arm to hold the smooth red cylindrical bottle and shake it.", + "Grab the yellow text bottle with the left arm and shake.", + "Grab and shake the plastic bottle using the left arm.", + "Hold and shake the the smooth red cylindrical bottle carefully.", + "Take the handheld plastic bottle using the left arm and give it a shake.", + "Lift the plastic bottle with bright red color with the left arm and shake.", + "Grab the yellow text bottle firmly, shake it, and put it down.", + "Grasp the bottle with red cap with the left arm and shake it.", + "Hold the yellow text bottle and shake it properly.", + "Secure the bottle with red cap and perform a shake.", + "Use the left arm to hold the red bottle with screw cap and shake it.", + "With the left arm, pick the medium-size plastic bottle and shake properly.", + "Pick up the smooth red cylindrical bottle and shake it.", + "Pick the yellow text bottle up with the left arm and shake.", + "Secure the yellow text bottle, shake it, and place it down.", + "Shake the medium-size plastic bottle after grabbing it.", + "Shake the the handheld plastic bottle properly after lifting.", + "Use the left arm to lift and shake the yellow text bottle.", + "Lift the medium-size plastic bottle and shake it thoroughly.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the plastic bottle with bright red color up using the left arm and shake it.", + "Pick the red bottle with narrow neck and perform shaking motion.", + "Shake the red bottle after grabbing it.", + "Use the left arm to grab the red bottle with screw cap and shake properly.", + "Use the left arm to grab the handheld plastic bottle and shake it.", + "Grab the yellow text bottle and move it to shake.", + "Hold the red bottle with curved grooves, shake it briefly.", + "Shake the plastic bottle with bright red color after lifting it.", + "Lift the smooth red cylindrical bottle with the left arm and shake it.", + "Hold the red bottle with curved grooves steady, then shake it.", + "Lift the plastic bottle with bright red color with the left arm and give it a shake.", + "Using the left arm, shake the red bottle with curved grooves and then place it back.", + "Use the left arm to pick and shake the red bottle with narrow neck.", + "Grab the yellow text bottle and shake it steadily.", + "Grab the medium-size plastic bottle using the left arm, then shake.", + "Hold the smooth red cylindrical bottle with the left arm and shake lightly.", + "Grab the red bottle with narrow neck and give it a shake.", + "Use the left arm to lift and shake the red bottle with screw cap.", + "Pick the smooth red cylindrical bottle, shake it with the left arm.", + "Lift up the smooth red cylindrical bottle using the left arm, then shake.", + "Shake the medium-size plastic bottle using the left arm after grabbing.", + "Catch the red bottle with curved grooves and shake it instantly.", + "Shake the medium-size plastic bottle after holding it firmly.", + "Shake the red bottle with screw cap after grabbing it.", + "Lift the yellow text bottle and shake it gently.", + "Pick up the plastic bottle and shake it well.", + "Grab the handheld plastic bottle carefully and shake.", + "Grip the red bottle with narrow neck using the left arm and shake.", + "Use the left arm to lift and shake the handheld plastic bottle.", + "Shake the smooth red cylindrical bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the red bottle with curved grooves and shake it.", + "Grab the plastic bottle with the left arm and shake.", + "Grab and shake the red bottle with curved grooves using the left arm.", + "Hold and shake the the smooth red cylindrical bottle carefully.", + "Take the smooth red cylindrical bottle using the left arm and give it a shake.", + "Lift the red bottle with narrow neck with the left arm and shake.", + "Grab the plastic bottle with bright red color firmly, shake it, and put it down.", + "Grasp the red bottle with screw cap with the left arm and shake it.", + "Hold the medium-size plastic bottle and shake it properly.", + "Secure the red bottle with narrow neck and perform a shake.", + "Use the left arm to hold the medium-size plastic bottle and shake it.", + "With the left arm, pick the medium-size plastic bottle and shake properly.", + "Pick up the red bottle with curved grooves and shake it.", + "Pick the plastic bottle with bright red color up with the left arm and shake.", + "Secure the smooth red cylindrical bottle, shake it, and place it down.", + "Shake the smooth red cylindrical bottle after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to lift and shake the yellow text bottle.", + "Lift the red bottle and shake it thoroughly.", + "Shake the red bottle with curved grooves firmly after grabbing.", + "Pick the red bottle with screw cap up using the left arm and shake it.", + "Pick the red bottle with screw cap and perform shaking motion.", + "Shake the red bottle with white bottom text after grabbing it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Use the left arm to grab the handheld plastic bottle and shake it.", + "Grab the plastic bottle with bright red color and move it to shake.", + "Hold the red bottle, shake it briefly.", + "Shake the bottle with red cap after lifting it.", + "Lift the handheld plastic bottle with the left arm and shake it.", + "Hold the smooth red cylindrical bottle steady, then shake it.", + "Lift the bottle with red cap with the left arm and give it a shake.", + "Using the left arm, shake the red bottle with white bottom text and then place it back.", + "Use the left arm to pick and shake the red bottle with curved grooves.", + "Grab the bottle with red cap and shake it steadily." + ], + "unseen": [ + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle with the left arm and shake.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with white and yellow label and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the left arm to pick the shiny red bottle.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle with the left arm and shake.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Pick up the shiny red bottle and shake it.", + "Grab the shiny red bottle and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle with the left arm and shake.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle with the left arm and shake.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle with the left arm and shake.", + "Shake the shiny red bottle after picking it with the left arm.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Shake the shiny red bottle after picking it with the left arm.", + "Pick and shake the the shiny red bottle with the left arm.", + "Pick up the shiny red bottle and shake it.", + "Grab the shiny red bottle and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle with the left arm and shake.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with yellow Chinese characters with the left arm and shake.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with yellow Chinese characters with the left arm and shake.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode203.json b/shake_bottle/ur5_randomized_500/instructions/episode203.json new file mode 100644 index 0000000000000000000000000000000000000000..96ae2a1ea0ed496b4a2a7988d50008dfc3536d55 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode203.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the orange drink bottle with label using the right arm and shake.", + "Grab the grooved orange drink bottle using the right arm, then shake.", + "Shake the medium bottle with colorful label after lifting it.", + "Hold the orange bottle steady, then shake it.", + "Use the right arm to grab the cylindrical orange plastic bottle and shake properly.", + "Use the right arm to pick and shake the round-bottom bottle with white cap.", + "Shake the bottle for holding drinks after grabbing it.", + "Lift up the orange bottle using the right arm, then shake.", + "Secure the bottle for holding drinks and perform a shake.", + "Using the right arm, shake the round-bottom bottle with white cap and then place it back.", + "Lift the smooth orange bottle and shake it gently.", + "Hold the bottle for holding drinks, shake it briefly.", + "Pick up the medium bottle with colorful label and shake it.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Pick the round-bottom bottle with white cap, shake it with the right arm.", + "Hold and shake the the bottle for holding drinks carefully.", + "Pick the bottle for holding drinks up with the right arm and shake.", + "Shake the light and medium-sized bottle using the right arm after grabbing.", + "Shake the the cylindrical orange plastic bottle properly after lifting.", + "Shake the orange bottle after grabbing it.", + "Grab the round-bottom bottle with white cap and shake it steadily.", + "Pick the smooth orange bottle up using the right arm and shake it.", + "Grab the ridged orange bottle with grooves carefully and shake.", + "Lift the cylindrical orange plastic bottle with the right arm and shake.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Grab the ridged orange bottle with grooves with the right arm and shake.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Use the right arm to hold the light and medium-sized bottle and shake it.", + "Lift the curved orange soda bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Grasp the bottle for holding drinks with the right arm and shake it.", + "Pick the ridged orange bottle with grooves and perform shaking motion.", + "Shake the curved orange soda bottle firmly after grabbing.", + "Hold the orange drink bottle with label with the right arm and shake lightly.", + "Hold the medium bottle with colorful label and shake it properly.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Lift the ridged orange bottle with grooves with the right arm and shake it.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Shake the round-bottom bottle with white cap after holding it firmly.", + "Use the right arm to grab the medium bottle with colorful label and shake it.", + "Pick up the bottle for holding drinks and shake it well.", + "With the right arm, pick the orange drink bottle with label and shake properly.", + "Shake the smooth orange bottle after grabbing it.", + "Grab the medium bottle with colorful label and move it to shake.", + "Grab and shake the orange drink bottle with label using the right arm.", + "Utilize the right arm to hold the orange bottle and shake it.", + "Lift the smooth orange bottle and shake it thoroughly.", + "Take the grooved orange drink bottle using the right arm and give it a shake.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Grip the cylindrical orange plastic bottle using the right arm and shake.", + "Grab the ridged orange bottle with grooves using the right arm, then shake.", + "Shake the medium bottle with colorful label after lifting it.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Use the right arm to grab the orange bottle and shake properly.", + "Use the right arm to pick and shake the orange bottle.", + "Shake the curved orange soda bottle after grabbing it.", + "Lift up the curved orange soda bottle using the right arm, then shake.", + "Secure the grooved orange drink bottle and perform a shake.", + "Using the right arm, shake the light and medium-sized bottle and then place it back.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "Hold the orange bottle, shake it briefly.", + "Pick up the orange drink bottle with label and shake it.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Pick the cylindrical orange plastic bottle, shake it with the right arm.", + "Hold and shake the the orange drink bottle with label carefully.", + "Pick the bottle for holding drinks up with the right arm and shake.", + "Shake the orange bottle using the right arm after grabbing.", + "Shake the the grooved orange drink bottle properly after lifting.", + "Shake the medium bottle with colorful label after grabbing it.", + "Grab the curved orange soda bottle and shake it steadily.", + "Pick the orange drink bottle with label up using the right arm and shake it.", + "Grab the medium bottle with colorful label carefully and shake.", + "Lift the smooth orange bottle with the right arm and shake.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Grab the smooth orange bottle with the right arm and shake.", + "Grab the smooth orange bottle and give it a shake.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Use the right arm to hold the round-bottom bottle with white cap and shake it.", + "Lift the grooved orange drink bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the curved orange soda bottle.", + "Grasp the curved orange soda bottle with the right arm and shake it.", + "Pick the medium bottle with colorful label and perform shaking motion.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Hold the orange bottle with the right arm and shake lightly.", + "Hold the orange bottle and shake it properly.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Lift the bottle for holding drinks with the right arm and shake it.", + "Use the right arm to lift and shake the orange bottle.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Use the right arm to grab the ridged orange bottle with grooves and shake it.", + "Pick up the round-bottom bottle with white cap and shake it well.", + "With the right arm, pick the orange drink bottle with label and shake properly.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Grab the grooved orange drink bottle and move it to shake.", + "Grab and shake the bottle for holding drinks using the right arm.", + "Utilize the right arm to hold the ridged orange bottle with grooves and shake it.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Take the light and medium-sized bottle using the right arm and give it a shake.", + "Catch the curved orange soda bottle and shake it instantly." + ], + "unseen": [ + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with white cap and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode204.json b/shake_bottle/ur5_randomized_500/instructions/episode204.json new file mode 100644 index 0000000000000000000000000000000000000000..356e50b9fc5756fd1a0757d7756d3b45263110a3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode204.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the smooth bottle with rounded edges and perform a shake.", + "Grasp the bottle with green label with the left arm and shake it.", + "Grip the plastic bottle using the left arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Lift up the yellow bottle using the left arm, then shake.", + "Shake the bottle with a smooth plastic body after lifting it.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Shake the yellow plastic bottle with white top using the left arm after grabbing.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the plastic bottle using the left arm, then shake.", + "Use the left arm to hold the yellow bottle and shake it.", + "Hold the smooth bottle with rounded edges with the left arm and shake lightly.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Hold the bottle with green label and shake it properly.", + "Grab the yellow bottle and shake it steadily.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Catch the bottle with white cap and shake it instantly.", + "Shake the smooth bottle with rounded edges after holding it firmly.", + "Lift the yellow container with rounded edges and shake it gently.", + "Use the left arm to grab the medium rectangular yellow bottle and shake it.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Lift the medium rectangular yellow bottle with the left arm and shake.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to pick and shake the rectangular bottle with cylindrical neck.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Hold and shake the the yellow bottle carefully.", + "Grab the bottle with green label and move it to shake.", + "Using the left arm, shake the yellow bottle with a green design and then place it back.", + "Pick the bottle with white cap, shake it with the left arm.", + "Hold the rectangular bottle with cylindrical neck, shake it briefly.", + "Shake the bottle with white cap after grabbing it.", + "Hold the bottle with white cap steady, then shake it.", + "Grab the bottle with green and white labels with the left arm and shake.", + "Secure the yellow plastic bottle with white top, shake it, and place it down.", + "Pick up the bottle with green and white labels and shake it well.", + "With the left arm, pick the bottle with green and white labels and shake properly.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Pick the plastic bottle and perform shaking motion.", + "Pick up the bottle with green and white labels and shake it.", + "Use the left arm to grab the smooth bottle with rounded edges and shake properly.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Shake the bottle with white cap after grabbing it.", + "Pick the yellow bottle up using the left arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Secure the bottle with green label and perform a shake.", + "Grasp the bottle with green label with the left arm and shake it.", + "Grip the yellow plastic bottle with white top using the left arm and shake.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Lift up the yellow plastic bottle with white top using the left arm, then shake.", + "Shake the rectangular bottle with cylindrical neck after lifting it.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Shake the yellow bottle using the left arm after grabbing.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Grab the yellow container with rounded edges using the left arm, then shake.", + "Use the left arm to hold the medium rectangular yellow bottle and shake it.", + "Hold the bottle with white cap with the left arm and shake lightly.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Hold the bottle with green label and shake it properly.", + "Grab the bottle with a smooth plastic body and shake it steadily.", + "Lift the smooth bottle with rounded edges with the left arm and shake it.", + "Pick the yellow bottle with a green design up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with green label.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Shake the medium rectangular yellow bottle after holding it firmly.", + "Lift the yellow bottle with a green design and shake it gently.", + "Use the left arm to grab the bottle with green label and shake it.", + "Utilize the left arm to hold the smooth bottle with rounded edges and shake it.", + "Lift the bottle with green label with the left arm and shake.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Hold and shake the the plastic bottle carefully.", + "Grab the plastic bottle and move it to shake.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Pick the bottle with a smooth plastic body, shake it with the left arm.", + "Hold the plastic bottle, shake it briefly.", + "Shake the plastic bottle after grabbing it.", + "Hold the yellow plastic bottle with white top steady, then shake it.", + "Grab the smooth bottle with rounded edges with the left arm and shake.", + "Secure the bottle with green label, shake it, and place it down.", + "Pick up the bottle with white cap and shake it well.", + "With the left arm, pick the yellow container with rounded edges and shake properly.", + "Use the left arm to lift and shake the bottle with green label.", + "Take the yellow plastic bottle with white top using the left arm and give it a shake.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Pick the bottle with green and white labels and perform shaking motion.", + "Pick up the medium rectangular yellow bottle and shake it.", + "Use the left arm to grab the bottle with green and white labels and shake properly.", + "Shake the yellow plastic bottle with white top firmly after grabbing.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Grab the yellow container with rounded edges and give it a shake.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode205.json b/shake_bottle/ur5_randomized_500/instructions/episode205.json new file mode 100644 index 0000000000000000000000000000000000000000..7d305d5a4d20f1504998729e9d07bf64881c2d0f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode205.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the orange drink bottle with label properly after lifting.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Pick up the light and medium-sized bottle and shake it well.", + "Hold the grooved orange drink bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the bottle for holding drinks and shake it.", + "Secure the orange bottle, shake it, and place it down.", + "Use the right arm to pick and shake the bottle for holding drinks.", + "Grab the plastic bottle carefully and shake.", + "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Grab the orange bottle and move it to shake.", + "Use the right arm to grab the orange drink bottle with label and shake properly.", + "Pick the orange bottle up with the right arm and shake.", + "Lift the curved orange soda bottle with the right arm and give it a shake.", + "Shake the plastic bottle after holding it firmly.", + "Lift the light and medium-sized bottle and shake it gently.", + "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the orange bottle and shake it.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Shake the orange bottle after grabbing it.", + "Pick the light and medium-sized bottle, shake it with the right arm.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Use the right arm to hold the orange bottle and shake it.", + "Lift the orange drink bottle with label with the right arm and shake it.", + "Pick up the curved orange soda bottle and shake it.", + "Lift the orange drink bottle with label and shake it thoroughly.", + "Grab the light and medium-sized bottle and shake it steadily.", + "Hold the orange drink bottle with label and shake it properly.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Lift the smooth orange bottle with the right arm and shake.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Secure the smooth orange bottle and perform a shake.", + "With the right arm, pick the ridged orange bottle with grooves and shake properly.", + "Grab the round-bottom bottle with white cap using the right arm, then shake.", + "Using the right arm, shake the cylindrical orange plastic bottle and then place it back.", + "Hold the bottle for holding drinks, shake it briefly.", + "Pick the smooth orange bottle and perform shaking motion.", + "Lift up the round-bottom bottle with white cap using the right arm, then shake.", + "Pick the orange drink bottle with label up using the right arm and shake it.", + "Take the bottle for holding drinks using the right arm and give it a shake.", + "Shake the light and medium-sized bottle using the right arm after grabbing.", + "Grab and shake the bottle for holding drinks using the right arm.", + "Shake the curved orange soda bottle after grabbing it.", + "Grip the bottle for holding drinks using the right arm and shake.", + "Grab the grooved orange drink bottle with the right arm and shake.", + "Shake the grooved orange drink bottle after grabbing it.", + "Grasp the grooved orange drink bottle with the right arm and shake it.", + "Hold and shake the the bottle for holding drinks carefully.", + "Shake the grooved orange drink bottle after lifting it.", + "Catch the plastic bottle and shake it instantly.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Use the right arm to lift and shake the smooth orange bottle.", + "Pick up the medium bottle with colorful label and shake it well.", + "Hold the ridged orange bottle with grooves with the right arm and shake lightly.", + "Utilize the right arm to hold the round-bottom bottle with white cap and shake it.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Use the right arm to pick and shake the bottle for holding drinks.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Grab the round-bottom bottle with white cap and move it to shake.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Pick the bottle for holding drinks up with the right arm and shake.", + "Lift the smooth orange bottle with the right arm and give it a shake.", + "Shake the round-bottom bottle with white cap after holding it firmly.", + "Lift the curved orange soda bottle and shake it gently.", + "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the smooth orange bottle and shake it.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick the medium bottle with colorful label, shake it with the right arm.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Use the right arm to hold the light and medium-sized bottle and shake it.", + "Lift the curved orange soda bottle with the right arm and shake it.", + "Pick up the curved orange soda bottle and shake it.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Grab the orange drink bottle with label and shake it steadily.", + "Hold the ridged orange bottle with grooves and shake it properly.", + "Grab the light and medium-sized bottle and give it a shake.", + "Lift the orange drink bottle with label with the right arm and shake.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Secure the light and medium-sized bottle and perform a shake.", + "With the right arm, pick the cylindrical orange plastic bottle and shake properly.", + "Grab the cylindrical orange plastic bottle using the right arm, then shake.", + "Using the right arm, shake the grooved orange drink bottle and then place it back.", + "Hold the curved orange soda bottle, shake it briefly.", + "Pick the orange bottle and perform shaking motion.", + "Lift up the round-bottom bottle with white cap using the right arm, then shake.", + "Pick the smooth orange bottle up using the right arm and shake it.", + "Take the grooved orange drink bottle using the right arm and give it a shake.", + "Shake the cylindrical orange plastic bottle using the right arm after grabbing.", + "Grab and shake the round-bottom bottle with white cap using the right arm.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grip the orange bottle using the right arm and shake.", + "Grab the round-bottom bottle with white cap with the right arm and shake.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Grasp the medium bottle with colorful label with the right arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Shake the round-bottom bottle with white cap after lifting it.", + "Catch the ridged orange bottle with grooves and shake it instantly." + ], + "unseen": [ + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with white cap and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode206.json b/shake_bottle/ur5_randomized_500/instructions/episode206.json new file mode 100644 index 0000000000000000000000000000000000000000..57fb945bfc47b786b5d6cda36e9571362fd0e2a5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode206.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the beverage bottle with black body with the right arm and shake it.", + "Use the right arm to grab the medium black bottle with printed label and shake it.", + "Lift the beverage bottle with black body with the right arm and give it a shake.", + "Lift the bottle with blue and yellow print with the right arm and shake.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Utilize the right arm to hold the yellow-capped cylindrical bottle and shake it.", + "Pick up the bottle with blue and yellow print and shake it well.", + "Lift up the drink bottle with rounded yellow lid using the right arm, then shake.", + "Take the smooth black bottle with ridges using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium black bottle with printed label.", + "Grab the bottle with blue and yellow print and give it a shake.", + "Shake the drink bottle with rounded yellow lid using the right arm after grabbing.", + "Grasp the yellow capped drink bottle with the right arm and shake it.", + "Pick up the medium bottle with yellow cap and shake it.", + "Shake the the beverage bottle with black body properly after lifting.", + "Use the right arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Grab the beverage bottle with black body and move it to shake.", + "Grip the yellow capped drink bottle using the right arm and shake.", + "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.", + "Grab and shake the black bottle using the right arm.", + "Hold the black bottle, shake it briefly.", + "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.", + "Grab the black bottle using the right arm, then shake.", + "Using the right arm, shake the beverage bottle with black body and then place it back.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Pick the yellow capped drink bottle, shake it with the right arm.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Lift the medium bottle with yellow cap and shake it thoroughly.", + "Use the right arm to grab the yellow-capped cylindrical bottle and shake properly.", + "With the right arm, pick the black bottle and shake properly.", + "Hold the yellow-capped cylindrical bottle and shake it properly.", + "Grab the bottle with blue and yellow print and shake it steadily.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Shake the beverage bottle with black body after lifting it.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Shake the medium black bottle with printed label after grabbing it.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Pick the black cylindrical bottle with ridges up using the right arm and shake it.", + "Grab the drink bottle with rounded yellow lid carefully and shake.", + "Secure the yellow-capped cylindrical bottle and perform a shake.", + "Pick the yellow capped drink bottle up with the right arm and shake.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Catch the drink bottle with rounded yellow lid and shake it instantly.", + "Shake the smooth black bottle with ridges after holding it firmly.", + "Use the right arm to pick and shake the bottle with blue and yellow print.", + "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.", + "Grab the black bottle with the right arm and shake.", + "Lift the black plastic bottle with Pepsi logo with the right arm and shake it.", + "Use the right arm to grab the yellow capped drink bottle and shake it.", + "Lift the medium black bottle with printed label with the right arm and give it a shake.", + "Lift the yellow-capped cylindrical bottle with the right arm and shake.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Utilize the right arm to hold the drink bottle with rounded yellow lid and shake it.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Lift up the black bottle using the right arm, then shake.", + "Take the yellow capped drink bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Shake the medium black bottle with printed label using the right arm after grabbing.", + "Grasp the black plastic bottle with Pepsi logo with the right arm and shake it.", + "Pick up the plastic bottle with colorful label and shake it.", + "Shake the the drink bottle with rounded yellow lid properly after lifting.", + "Use the right arm to hold the yellow capped drink bottle and shake it.", + "Grab the black cylindrical bottle with ridges and move it to shake.", + "Grip the beverage bottle with black body using the right arm and shake.", + "Hold the medium bottle with yellow cap with the right arm and shake lightly.", + "Grab and shake the black cylindrical bottle with ridges using the right arm.", + "Hold the black cylindrical bottle with ridges, shake it briefly.", + "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.", + "Grab the bottle with blue and yellow print using the right arm, then shake.", + "Using the right arm, shake the black plastic bottle with Pepsi logo and then place it back.", + "Use the right arm to lift and shake the yellow capped drink bottle.", + "Pick the yellow capped drink bottle, shake it with the right arm.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Hold the medium bottle with yellow cap steady, then shake it.", + "Lift the medium bottle with yellow cap and shake it thoroughly.", + "Use the right arm to grab the smooth black bottle with ridges and shake properly.", + "With the right arm, pick the plastic bottle with colorful label and shake properly.", + "Hold the yellow capped drink bottle and shake it properly.", + "Grab the yellow capped drink bottle and shake it steadily.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Hold and shake the the smooth black bottle with ridges carefully.", + "Shake the yellow-capped cylindrical bottle after lifting it.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Shake the yellow-capped cylindrical bottle firmly after grabbing.", + "Pick the medium black bottle with printed label up using the right arm and shake it.", + "Grab the plastic bottle with colorful label carefully and shake.", + "Secure the black cylindrical bottle with ridges and perform a shake.", + "Pick the medium bottle with yellow cap up with the right arm and shake.", + "Secure the beverage bottle with black body, shake it, and place it down.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Use the right arm to pick and shake the medium bottle with yellow cap.", + "Grab the black bottle firmly, shake it, and put it down.", + "Grab the beverage bottle with black body with the right arm and shake." + ], + "unseen": [ + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode207.json b/shake_bottle/ur5_randomized_500/instructions/episode207.json new file mode 100644 index 0000000000000000000000000000000000000000..fe96165de836508a5c865f4db88b55b9fdefba93 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode207.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the smooth green bottle and then place it back.", + "Hold the green bottle with indented base and shake it properly.", + "Grip the smooth green bottle using the right arm and shake.", + "Shake the medium green bottle using the right arm after grabbing.", + "Secure the bottle with rounded neck and perform a shake.", + "With the right arm, pick the medium green bottle with capped neck and shake properly.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Catch the smooth green bottle and shake it instantly.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Take the plastic bottle using the right arm and give it a shake.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the bottle with narrow top with the right arm and shake.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the medium-sized green bottle after holding it firmly.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grab the bottle with white printed label and move it to shake.", + "Secure the handheld green bottle, shake it, and place it down.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Grab the bottle with white printed label and shake it steadily.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick the medium green bottle up using the right arm and shake it.", + "Lift the green bottle with indented base with the right arm and shake.", + "Hold the handheld green bottle steady, then shake it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grab the smooth green bottle using the right arm, then shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Grab the handheld green bottle carefully and shake.", + "Shake the handheld green bottle firmly after grabbing.", + "Shake the medium green bottle after lifting it.", + "Pick up the bottle with ridges near base and shake it well.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Grab the green bottle with indented base and give it a shake.", + "Lift the bottle with rounded neck and shake it gently.", + "Pick the bottle with white printed label and perform shaking motion.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Shake the smooth green bottle after grabbing it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Hold and shake the the bottle with white printed label carefully.", + "Shake the the plastic bottle properly after lifting.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Hold the bottle with white printed label and shake it properly.", + "Grip the smooth green bottle using the right arm and shake.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Secure the bottle with narrow top and perform a shake.", + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Take the medium green bottle using the right arm and give it a shake.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Pick up the medium-sized green bottle and shake it.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Lift the smooth green bottle and shake it thoroughly.", + "Grab the bottle with ridges near base and move it to shake.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab the bottle with ridges near base and shake it steadily.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Use the right arm to lift and shake the handheld green bottle.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Shake the smooth green bottle after grabbing it.", + "Use the right arm to pick and shake the medium green bottle.", + "Grab the medium-sized green bottle carefully and shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Shake the medium green bottle with capped neck after lifting it.", + "Pick up the bottle with ridges near base and shake it well.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Lift the green bottle with indented base and shake it gently.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grab and shake the bottle with white printed label using the right arm.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Shake the medium green bottle after grabbing it.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Hold and shake the the plastic bottle carefully.", + "Shake the the medium green bottle with capped neck properly after lifting." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode208.json b/shake_bottle/ur5_randomized_500/instructions/episode208.json new file mode 100644 index 0000000000000000000000000000000000000000..813e9e5b85e58cbf17b3312e6a2e9821d2c21c96 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode208.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the cylindrical bottle with narrow neck and perform a shake.", + "Use the left arm to pick and shake the handheld brown bottle with white lid.", + "Grab the bottle with white cap with the left arm and shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Secure the plastic bottle with printed label, shake it, and place it down.", + "Pick up the bottle with white cap and shake it well.", + "Grab the smooth brown bottle using the left arm, then shake.", + "Using the left arm, shake the plastic bottle with printed label and then place it back.", + "Shake the white-capped brown cylindrical bottle after holding it firmly.", + "Pick the medium plastic bottle and perform shaking motion.", + "Utilize the left arm to hold the handheld brown bottle with white lid and shake it.", + "Grab the smooth brown bottle carefully and shake.", + "Pick the bottle with dark brown color up using the left arm and shake it.", + "Lift the bottle with dark brown color and shake it gently.", + "Grab the cylindrical bottle with narrow neck and move it to shake.", + "Pick the plastic bottle with printed label up with the left arm and shake.", + "Shake the rounded bottle with printed details after lifting it.", + "With the left arm, pick the plastic bottle with printed label and shake properly.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Take the rounded bottle with printed details using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Lift the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the medium bottle with smooth texture and shake it.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Hold the medium plastic bottle steady, then shake it.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Catch the bottle with brown body and white top and shake it instantly.", + "Shake the smooth brown bottle after grabbing it.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Hold the medium plastic bottle and shake it properly.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Lift up the handheld brown bottle with white lid using the left arm, then shake.", + "Lift the bottle with brown body and white top with the left arm and give it a shake.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Grab the rounded bottle with printed details firmly, shake it, and put it down.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Pick the smooth brown bottle, shake it with the left arm.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Grab and shake the plastic bottle with printed label using the left arm.", + "Grasp the plastic bottle with printed label with the left arm and shake it.", + "Lift the bottle with brown body and white top with the left arm and shake it.", + "Secure the bottle with brown body and white top and perform a shake.", + "Use the left arm to pick and shake the bottle with white cap.", + "Grab the handheld brown bottle with white lid with the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Pick up the rounded bottle with printed details and shake it well.", + "Grab the rounded bottle with printed details using the left arm, then shake.", + "Using the left arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Utilize the left arm to hold the cylindrical bottle with narrow neck and shake it.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Pick the medium bottle with smooth texture up using the left arm and shake it.", + "Lift the medium plastic bottle and shake it gently.", + "Grab the cylindrical bottle with narrow neck and move it to shake.", + "Pick the bottle with dark brown color up with the left arm and shake.", + "Shake the handheld brown bottle with white lid after lifting it.", + "With the left arm, pick the bottle with brown body and white top and shake properly.", + "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with white cap.", + "Shake the the smooth brown bottle properly after lifting.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "Take the smooth brown bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Lift the bottle with brown body and white top with the left arm and shake.", + "Use the left arm to grab the medium plastic bottle and shake it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Catch the smooth brown bottle and shake it instantly.", + "Shake the bottle with white cap after grabbing it.", + "Grab the smooth brown bottle and shake it steadily.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grab the bottle with dark brown color and give it a shake.", + "Pick up the plastic bottle for liquids and shake it.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Lift the medium bottle with smooth texture with the left arm and give it a shake.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Hold the cylindrical bottle with narrow neck, shake it briefly.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Grip the rounded bottle with printed details using the left arm and shake.", + "Hold and shake the the smooth brown bottle carefully.", + "Pick the cylindrical bottle with narrow neck, shake it with the left arm.", + "Hold the plastic bottle for liquids with the left arm and shake lightly.", + "Grab and shake the cylindrical bottle with narrow neck using the left arm.", + "Grasp the medium plastic bottle with the left arm and shake it.", + "Lift the handheld brown bottle with white lid with the left arm and shake it." + ], + "unseen": [ + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode209.json b/shake_bottle/ur5_randomized_500/instructions/episode209.json new file mode 100644 index 0000000000000000000000000000000000000000..8b23507a690d760633803c7e2fd1b0980dc014af --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode209.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the bottle with green cap and shake it instantly.", + "Lift up the bottle with tapered cylindrical shape using the left arm, then shake.", + "Shake the smooth plastic bottle for beverages after lifting it.", + "Pick the brown bottle with green screw-on cap up using the left arm and shake it.", + "Shake the cylindrical bottle with white label using the left arm after grabbing.", + "Hold the brown bottle with the left arm and shake lightly.", + "Grab the green-capped bottle and give it a shake.", + "Pick the cylindrical bottle with white label and perform shaking motion.", + "Grab the smooth plastic bottle for beverages using the left arm, then shake.", + "With the left arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Use the left arm to pick and shake the brown bottle with white printed label.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Grip the bottle with green cap using the left arm and shake.", + "Shake the brown bottle with white printed label after grabbing it.", + "Use the left arm to lift and shake the brown bottle.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Take the small brown plastic bottle using the left arm and give it a shake.", + "Pick the green-capped bottle up with the left arm and shake.", + "Lift the brown bottle with the left arm and shake.", + "Utilize the left arm to hold the bottle with green cap and shake it.", + "Use the left arm to grab the small drink bottle with logo and shake it.", + "Grab and shake the small drink bottle with logo using the left arm.", + "Grasp the bottle with tapered cylindrical shape with the left arm and shake it.", + "Pick the bottle with green cap, shake it with the left arm.", + "Hold the brown bottle and shake it properly.", + "Hold and shake the the bottle with green cap carefully.", + "Secure the brown bottle with green screw-on cap and perform a shake.", + "Grab the hand-sized bottle with grooves with the left arm and shake.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Grab the bottle with tapered cylindrical shape and move it to shake.", + "Shake the the brown bottle properly after lifting.", + "Lift the hand-sized bottle with grooves with the left arm and shake it.", + "Hold the brown bottle with green screw-on cap, shake it briefly.", + "Use the left arm to lift and shake the cylindrical bottle with white label.", + "Shake the brown bottle firmly after grabbing.", + "Grab the bottle with green cap carefully and shake.", + "Using the left arm, shake the small drink bottle with logo and then place it back.", + "Hold the small brown plastic bottle steady, then shake it.", + "Secure the green-capped bottle, shake it, and place it down.", + "Shake the hand-sized bottle with grooves thoroughly after grabbing it.", + "Lift the bottle with green cap and shake it gently.", + "Use the left arm to grab the smooth plastic bottle for beverages and shake properly.", + "Shake the brown bottle with white printed label after grabbing it.", + "Use the left arm to hold the small brown plastic bottle and shake it.", + "Lift the brown bottle with white printed label with the left arm and give it a shake.", + "Pick up the small brown plastic bottle and shake it.", + "Pick up the brown bottle with white printed label and shake it well.", + "Grab the cylindrical bottle with white label firmly, shake it, and put it down.", + "Shake the brown bottle after holding it firmly.", + "Grab the plastic bottle with ribbed pattern and shake it steadily.", + "Catch the bottle with green cap and shake it instantly.", + "Lift up the brown bottle with green screw-on cap using the left arm, then shake.", + "Shake the small drink bottle with logo after lifting it.", + "Pick the small drink bottle with logo up using the left arm and shake it.", + "Shake the smooth plastic bottle for beverages using the left arm after grabbing.", + "Hold the cylindrical bottle with white label with the left arm and shake lightly.", + "Grab the smooth plastic bottle for beverages and give it a shake.", + "Pick the bottle with tapered cylindrical shape and perform shaking motion.", + "Grab the bottle with tapered cylindrical shape using the left arm, then shake.", + "With the left arm, pick the brown bottle with white printed label and shake properly.", + "Use the left arm to pick and shake the smooth plastic bottle for beverages.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Grip the bottle with tapered cylindrical shape using the left arm and shake.", + "Shake the brown bottle after grabbing it.", + "Use the left arm to lift and shake the small drink bottle with logo.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Take the small drink bottle with logo using the left arm and give it a shake.", + "Pick the small brown plastic bottle up with the left arm and shake.", + "Lift the bottle with green cap with the left arm and shake.", + "Utilize the left arm to hold the brown bottle with white printed label and shake it.", + "Use the left arm to grab the small drink bottle with logo and shake it.", + "Grab and shake the small brown plastic bottle using the left arm.", + "Grasp the smooth plastic bottle for beverages with the left arm and shake it.", + "Pick the small drink bottle with logo, shake it with the left arm.", + "Hold the small drink bottle with logo and shake it properly.", + "Hold and shake the the hand-sized bottle with grooves carefully.", + "Secure the green-capped bottle and perform a shake.", + "Grab the brown bottle with the left arm and shake.", + "Lift the smooth plastic bottle for beverages and shake it thoroughly.", + "Grab the hand-sized bottle with grooves and move it to shake.", + "Shake the the small brown plastic bottle properly after lifting.", + "Lift the brown bottle with the left arm and shake it.", + "Hold the plastic bottle with ribbed pattern, shake it briefly.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Shake the cylindrical bottle with white label firmly after grabbing.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Using the left arm, shake the brown bottle with white printed label and then place it back.", + "Hold the hand-sized bottle with grooves steady, then shake it.", + "Secure the bottle with tapered cylindrical shape, shake it, and place it down.", + "Shake the hand-sized bottle with grooves thoroughly after grabbing it.", + "Lift the bottle with tapered cylindrical shape and shake it gently.", + "Use the left arm to grab the brown bottle and shake properly.", + "Shake the green-capped bottle after grabbing it.", + "Use the left arm to hold the small brown plastic bottle and shake it.", + "Lift the bottle with green cap with the left arm and give it a shake.", + "Pick up the bottle with green cap and shake it.", + "Pick up the bottle with tapered cylindrical shape and shake it well.", + "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.", + "Shake the green-capped bottle after holding it firmly.", + "Grab the bottle with green cap and shake it steadily." + ], + "unseen": [ + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode21.json b/shake_bottle/ur5_randomized_500/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..aeebcc08da3e63a75b57fe5907218ea4eaae7fdb --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the plastic drink bottle after lifting it.", + "Lift the plastic drink bottle with the right arm and shake.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Shake the long thin bottle after grabbing it.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the the red-capped bottle properly after lifting.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Pick the long thin bottle, shake it with the right arm.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the hand-sized soda bottle after grabbing it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Lift the plastic drink bottle with the right arm and give it a shake.", + "Secure the plastic drink bottle and perform a shake.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Grab and shake the smooth bottle with red lid using the right arm.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Pick the red-capped bottle and perform shaking motion.", + "Grab the dark drink bottle with logo and give it a shake.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Grab the long thin bottle carefully and shake.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Grab the medium dark brown bottle and shake it steadily.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Grab the plastic drink bottle and move it to shake.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Hold the red-capped bottle and shake it properly.", + "Shake the brown bottle with red label after lifting it.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Shake the red-capped bottle firmly after grabbing.", + "Lift the narrow-necked bottle and shake it gently.", + "Shake the bottle with white neck and red top after grabbing it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Grip the narrow-necked bottle using the right arm and shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab the red-capped bottle and give it a shake.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Secure the red-capped bottle, shake it, and place it down.", + "Hold the red-capped bottle steady, then shake it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Lift the red-capped bottle with the right arm and shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Pick the long thin bottle up with the right arm and shake.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Hold the medium dark brown bottle and shake it properly." + ], + "unseen": [ + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode210.json b/shake_bottle/ur5_randomized_500/instructions/episode210.json new file mode 100644 index 0000000000000000000000000000000000000000..ddfbaafbdbbbdaa6c2a467365545400b5425eb72 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode210.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the yellow bottle and shake it.", + "Shake the handheld curvy bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Grab the bottle for liquid and shake it steadily.", + "With the right arm, pick the bottle with screw cap and shake properly.", + "Grab the medium plastic bottle with cap and give it a shake.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Lift the plastic bottle with curved sides and shake it thoroughly.", + "Shake the the plastic bottle with curved sides properly after lifting.", + "Use the right arm to grab the bottle for liquid and shake properly.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with screw cap.", + "Lift the medium plastic bottle with cap and shake it gently.", + "Shake the medium-sized bottle after holding it firmly.", + "Hold and shake the the handheld curvy bottle carefully.", + "Lift the plastic bottle with curved sides with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Utilize the right arm to hold the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle with dark label after grabbing it.", + "Secure the bottle with screw cap and perform a shake.", + "Hold the handheld curvy bottle and shake it properly.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Grab and shake the yellow bottle with blue label using the right arm.", + "Use the right arm to pick and shake the yellow bottle with dark label.", + "Grab the yellow bottle with the right arm and shake.", + "Grab the yellow bottle with blue label carefully and shake.", + "Secure the yellow bottle for liquid storage, shake it, and place it down.", + "Pick the plastic bottle and perform shaking motion.", + "Pick up the smooth plastic bottle and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Lift the yellow bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the yellow bottle with the right arm and shake lightly.", + "Use the right arm to hold the handheld curvy bottle and shake it.", + "Grasp the yellow bottle for liquid storage with the right arm and shake it.", + "Grab the plastic bottle with curved sides firmly, shake it, and put it down.", + "Grab the smooth plastic bottle and move it to shake.", + "Grip the medium-sized bottle using the right arm and shake.", + "Using the right arm, shake the medium-sized bottle and then place it back.", + "Hold the bottle with screw cap steady, then shake it.", + "Pick the bottle for liquid up using the right arm and shake it.", + "Hold the yellow bottle with blue label, shake it briefly.", + "Take the plastic bottle with curved sides using the right arm and give it a shake.", + "Pick up the medium plastic bottle with cap and shake it well.", + "Pick the bottle with screw cap up with the right arm and shake.", + "Lift up the handheld curvy bottle using the right arm, then shake.", + "Grab the handheld curvy bottle using the right arm, then shake.", + "Shake the medium plastic bottle with cap firmly after grabbing.", + "Pick the plastic bottle with curved sides, shake it with the right arm.", + "Shake the plastic bottle with curved sides after lifting it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake it.", + "Shake the plastic bottle with curved sides thoroughly after grabbing it.", + "Use the right arm to lift and shake the handheld curvy bottle.", + "Grab the plastic bottle with curved sides and shake it steadily.", + "With the right arm, pick the plastic bottle and shake properly.", + "Grab the yellow bottle with blue label and give it a shake.", + "Shake the bottle for liquid using the right arm after grabbing.", + "Lift the bottle for liquid and shake it thoroughly.", + "Shake the the medium-sized bottle properly after lifting.", + "Use the right arm to grab the plastic bottle with curved sides and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the yellow bottle.", + "Lift the yellow bottle with dark label and shake it gently.", + "Shake the plastic bottle with curved sides after holding it firmly.", + "Hold and shake the the plastic bottle with curved sides carefully.", + "Lift the medium plastic bottle with cap with the right arm and shake.", + "Shake the yellow bottle with dark label after grabbing it.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Secure the smooth plastic bottle and perform a shake.", + "Hold the yellow bottle with dark label and shake it properly.", + "Lift the yellow bottle with dark label with the right arm and shake it.", + "Grab and shake the yellow bottle with dark label using the right arm.", + "Use the right arm to pick and shake the yellow bottle.", + "Grab the yellow bottle with dark label with the right arm and shake.", + "Grab the plastic bottle with curved sides carefully and shake.", + "Secure the yellow bottle for liquid storage, shake it, and place it down.", + "Pick the bottle with screw cap and perform shaking motion.", + "Pick up the handheld curvy bottle and shake it.", + "Catch the yellow bottle with dark label and shake it instantly.", + "Lift the yellow bottle with blue label with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with screw cap.", + "Hold the bottle for liquid with the right arm and shake lightly.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Grab the yellow bottle with blue label firmly, shake it, and put it down.", + "Grab the bottle with screw cap and move it to shake.", + "Grip the medium plastic bottle with cap using the right arm and shake.", + "Using the right arm, shake the medium plastic bottle with cap and then place it back.", + "Hold the bottle with screw cap steady, then shake it.", + "Pick the yellow bottle with blue label up using the right arm and shake it.", + "Hold the medium plastic bottle with cap, shake it briefly.", + "Take the handheld curvy bottle using the right arm and give it a shake.", + "Pick up the medium plastic bottle with cap and shake it well.", + "Pick the medium-sized bottle up with the right arm and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grab the bottle for liquid using the right arm, then shake.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the yellow bottle with dark label, shake it with the right arm.", + "Shake the bottle for liquid after lifting it." + ], + "unseen": [ + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the smooth bottle with blue text and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode211.json b/shake_bottle/ur5_randomized_500/instructions/episode211.json new file mode 100644 index 0000000000000000000000000000000000000000..5806d58921aff2a5e2627ac8a476fcfe1ee7a31e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode211.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with printed label and shake it steadily.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Shake the yellow-capped plastic bottle after holding it firmly.", + "Use the right arm to hold the orange cylindrical bottle and shake it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Grab the bottle for liquids carefully and shake.", + "Hold and shake the the bottle with narrow neck carefully.", + "Pick the cylindrical orange bottle with yellow top, shake it with the right arm.", + "Utilize the right arm to hold the orange bottle and shake it.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Using the right arm, shake the bottle with narrow neck and then place it back.", + "Pick up the bottle for liquids and shake it.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the the smooth plastic bottle properly after lifting.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Lift the cylindrical orange bottle with yellow top and shake it gently.", + "Grab the plastic bottle with sealed yellow cap firmly, shake it, and put it down.", + "Use the right arm to pick and shake the plastic bottle with sealed yellow cap.", + "Grab the yellow-capped plastic bottle and give it a shake.", + "Shake the bottle with printed label after lifting it.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Grab the bottle with printed label with the right arm and shake.", + "Shake the bottle with printed label after grabbing it.", + "Pick up the bottle with yellow cap and shake it well.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the orange cylindrical bottle using the right arm, then shake.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Pick the bottle with yellow cap up using the right arm and shake it.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Lift the bottle with printed label with the right arm and give it a shake.", + "Grab and shake the orange bottle using the right arm.", + "Hold the plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the bottle with printed label.", + "Take the bottle with narrow neck using the right arm and give it a shake.", + "With the right arm, pick the orange cylindrical bottle and shake properly.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Secure the orange bottle, shake it, and place it down.", + "Pick the orange cylindrical bottle and perform shaking motion.", + "Shake the bottle with yellow cap using the right arm after grabbing.", + "Grasp the yellow-capped plastic bottle with the right arm and shake it.", + "Shake the bottle with narrow neck thoroughly after grabbing it.", + "Pick the medium-sized orange bottle up with the right arm and shake.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Shake the bottle with printed label after grabbing it.", + "Grab the orange cylindrical bottle and shake it steadily.", + "Lift the plastic bottle with the right arm and shake.", + "Secure the medium-sized orange bottle and perform a shake.", + "Use the right arm to grab the bottle with narrow neck and shake properly.", + "Grab the yellow-capped plastic bottle and move it to shake.", + "Shake the medium-sized orange bottle after holding it firmly.", + "Use the right arm to hold the bottle with narrow neck and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Hold the orange bottle and shake it properly.", + "Grab the bottle with narrow neck carefully and shake.", + "Hold and shake the the bottle with printed label carefully.", + "Pick the orange cylindrical bottle, shake it with the right arm.", + "Utilize the right arm to hold the medium-sized orange bottle and shake it.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Using the right arm, shake the bottle for liquids and then place it back.", + "Pick up the yellow-capped plastic bottle and shake it.", + "Use the right arm to grab the orange cylindrical bottle and shake it.", + "Shake the bottle with printed label after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Lift the plastic bottle and shake it gently.", + "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.", + "Use the right arm to pick and shake the plastic bottle with sealed yellow cap.", + "Grab the yellow-capped plastic bottle and give it a shake.", + "Shake the orange bottle after lifting it.", + "Lift the bottle with printed label with the right arm and shake it.", + "Grab the cylindrical orange bottle with yellow top with the right arm and shake.", + "Shake the orange cylindrical bottle after grabbing it.", + "Pick up the orange bottle and shake it well.", + "Grip the plastic bottle with sealed yellow cap using the right arm and shake.", + "Grab the plastic bottle using the right arm, then shake.", + "Lift the bottle with printed label and shake it thoroughly.", + "Pick the bottle with yellow cap up using the right arm and shake it.", + "Hold the yellow-capped plastic bottle with the right arm and shake lightly.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Grab and shake the plastic bottle with sealed yellow cap using the right arm.", + "Hold the yellow-capped plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Take the plastic bottle using the right arm and give it a shake.", + "With the right arm, pick the yellow-capped plastic bottle and shake properly.", + "Catch the bottle with printed label and shake it instantly.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Shake the plastic bottle with sealed yellow cap using the right arm after grabbing.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Pick the plastic bottle up with the right arm and shake.", + "Lift up the bottle for liquids using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the orange cylindrical bottle after grabbing it." + ], + "unseen": [ + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode212.json b/shake_bottle/ur5_randomized_500/instructions/episode212.json new file mode 100644 index 0000000000000000000000000000000000000000..6c9becf0deb619b4ea2ff836e44ff7f281a35ea0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode212.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Shake the bottle with rounded neck after lifting it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the the smooth green bottle properly after lifting.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the smooth green bottle with the left arm and shake.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Lift the bottle with white printed label and shake it gently.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Hold the handheld green bottle and shake it properly.", + "Catch the smooth green bottle and shake it instantly.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Grab the smooth green bottle using the left arm, then shake.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Shake the bottle with ridges near base after holding it firmly.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Hold the bottle with narrow top steady, then shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab the smooth green bottle and give it a shake.", + "Grab the medium-sized green bottle carefully and shake.", + "Secure the smooth green bottle, shake it, and place it down.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Grab the green bottle with indented base and shake it steadily.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Grab the bottle with ridges near base and move it to shake.", + "Grip the medium green bottle using the left arm and shake.", + "Pick up the smooth green plastic bottle and shake it well.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Shake the bottle with rounded neck after lifting it.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Hold and shake the the handheld green bottle carefully.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the the bottle with white printed label properly after lifting.", + "Pick up the medium green bottle with capped neck and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Grab the bottle with white printed label with the left arm and shake.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Lift the bottle with white printed label and shake it gently.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Hold the medium green bottle and shake it properly.", + "Catch the plastic bottle and shake it instantly.", + "Shake the bottle with narrow top after grabbing it.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Grab the handheld green bottle using the left arm, then shake.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Hold the smooth green bottle steady, then shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Grab the green bottle with indented base and give it a shake.", + "Grab the bottle with ridges near base carefully and shake.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Grab the bottle with narrow top and shake it steadily.", + "Secure the bottle with narrow top and perform a shake.", + "Hold the handheld green bottle, shake it briefly.", + "Shake the green bottle with indented base after grabbing it.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Grab the bottle with narrow top and move it to shake.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Pick up the handheld green bottle and shake it well.", + "Use the left arm to pick and shake the green bottle with indented base." + ], + "unseen": [ + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode213.json b/shake_bottle/ur5_randomized_500/instructions/episode213.json new file mode 100644 index 0000000000000000000000000000000000000000..febe36244180755574b2cdd1a0fa3e66fff21fb2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode213.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the bottle with cute ghost drawing properly after lifting.", + "Hold the bottle with cute ghost drawing steady, then shake it.", + "Utilize the right arm to hold the bottle shaped like small cylinder and shake it.", + "Pick up the bottle with cute ghost drawing and shake it well.", + "Lift up the plastic bottle with ghost print using the right arm, then shake.", + "Lift the hand-sized bottle with screw cap and shake it gently.", + "Secure the smooth cylindrical bottle, shake it, and place it down.", + "Lift the medium cylinder-shaped bottle with the right arm and shake it.", + "Grab the rounded body bottle made of plastic using the right arm, then shake.", + "Use the right arm to lift and shake the rounded body bottle made of plastic.", + "Pick the light gray colored container bottle up using the right arm and shake it.", + "Grasp the smooth cylindrical bottle with the right arm and shake it.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Hold the hand-sized bottle with screw cap and shake it properly.", + "Grip the smooth surface bottle with gray shade using the right arm and shake.", + "Shake the milk-bottle shape design thoroughly after grabbing it.", + "Pick the smooth cylindrical bottle and perform shaking motion.", + "Use the right arm to lift and shake the gray bottle with slight shine.", + "Grab and shake the medium-sized plastic bottle using the right arm.", + "Hold the plastic bottle with ghost print, shake it briefly.", + "Using the right arm, shake the medium-sized plastic bottle and then place it back.", + "Catch the light gray colored container bottle and shake it instantly.", + "Shake the medium cylinder-shaped bottle after holding it firmly.", + "Grab the rounded body bottle made of plastic with the right arm and shake.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Pick the light gray colored container bottle up with the right arm and shake.", + "Use the right arm to hold the hand-sized bottle with screw cap and shake it.", + "Lift the smooth cylindrical bottle with the right arm and give it a shake.", + "Use the right arm to grab the gray bottle with slight shine and shake properly.", + "Lift the bottle with cute ghost drawing and shake it thoroughly.", + "Hold and shake the the plastic bottle with ghost print carefully.", + "Secure the plastic bottle with ghost print and perform a shake.", + "Shake the medium cylinder-shaped bottle using the right arm after grabbing.", + "Shake the smooth cylindrical bottle after grabbing it.", + "Use the right arm to grab the medium-sized plastic bottle and shake it.", + "Grab the smooth cylindrical bottle carefully and shake.", + "Grab the bottle shaped like small cylinder and shake it steadily.", + "Shake the smooth cylindrical bottle after lifting it.", + "Take the smooth cylindrical bottle using the right arm and give it a shake.", + "Shake the plastic bottle with ghost print firmly after grabbing.", + "Lift the smooth cylindrical bottle with the right arm and shake.", + "Pick the bottle with cute ghost drawing, shake it with the right arm.", + "Grab the gray bottle with slight shine and give it a shake.", + "Pick up the smooth cylindrical bottle and shake it.", + "Use the right arm to pick and shake the gray bottle with slight shine.", + "Hold the bottle shaped like small cylinder with the right arm and shake lightly.", + "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.", + "With the right arm, pick the hand-sized bottle with screw cap and shake properly.", + "Use the right arm to lift and shake the gray bottle with slight shine.", + "Grab the smooth cylindrical bottle and move it to shake.", + "Shake the the medium-sized plastic bottle properly after lifting.", + "Hold the medium cylinder-shaped bottle steady, then shake it.", + "Utilize the right arm to hold the bottle shaped like small cylinder and shake it.", + "Pick up the hand-sized bottle with screw cap and shake it well.", + "Lift up the milk-bottle shape design using the right arm, then shake.", + "Lift the bottle shaped like small cylinder and shake it gently.", + "Secure the light gray colored container bottle, shake it, and place it down.", + "Lift the smooth surface bottle with gray shade with the right arm and shake it.", + "Grab the smooth surface bottle with gray shade using the right arm, then shake.", + "Use the right arm to lift and shake the rounded body bottle made of plastic.", + "Pick the milk-bottle shape design up using the right arm and shake it.", + "Grasp the bottle shaped like small cylinder with the right arm and shake it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Hold the smooth surface bottle with gray shade and shake it properly.", + "Grip the medium cylinder-shaped bottle using the right arm and shake.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Pick the hand-sized bottle with screw cap and perform shaking motion.", + "Use the right arm to lift and shake the smooth cylindrical bottle.", + "Grab and shake the plastic bottle with ghost print using the right arm.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Using the right arm, shake the light gray colored container bottle and then place it back.", + "Catch the smooth surface bottle with gray shade and shake it instantly.", + "Shake the hand-sized bottle with screw cap after holding it firmly.", + "Grab the bottle shaped like small cylinder with the right arm and shake.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Pick the smooth surface bottle with gray shade up with the right arm and shake.", + "Use the right arm to hold the plastic bottle with ghost print and shake it.", + "Lift the plastic bottle with ghost print with the right arm and give it a shake.", + "Use the right arm to grab the smooth surface bottle with gray shade and shake properly.", + "Lift the smooth surface bottle with gray shade and shake it thoroughly.", + "Hold and shake the the medium cylinder-shaped bottle carefully.", + "Secure the gray bottle with slight shine and perform a shake.", + "Shake the plastic bottle with ghost print using the right arm after grabbing.", + "Shake the light gray colored container bottle after grabbing it.", + "Use the right arm to grab the smooth surface bottle with gray shade and shake it.", + "Grab the medium cylinder-shaped bottle carefully and shake.", + "Grab the medium-sized plastic bottle and shake it steadily.", + "Shake the light gray colored container bottle after lifting it.", + "Take the light gray colored container bottle using the right arm and give it a shake.", + "Shake the bottle with cute ghost drawing firmly after grabbing.", + "Lift the light gray colored container bottle with the right arm and shake.", + "Pick the smooth surface bottle with gray shade, shake it with the right arm.", + "Grab the medium cylinder-shaped bottle and give it a shake.", + "Pick up the gray bottle with slight shine and shake it.", + "Use the right arm to pick and shake the light gray colored container bottle.", + "Hold the rounded body bottle made of plastic with the right arm and shake lightly.", + "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.", + "With the right arm, pick the medium-sized plastic bottle and shake properly.", + "Use the right arm to lift and shake the gray bottle with slight shine.", + "Grab the hand-sized bottle with screw cap and move it to shake." + ], + "unseen": [ + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Use the right arm to pick the light gray bottle.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Use the right arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the light gray bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode214.json b/shake_bottle/ur5_randomized_500/instructions/episode214.json new file mode 100644 index 0000000000000000000000000000000000000000..82572b2a807443e3379da4b5a080b761f3c4fc2f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode214.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, shake the cylindrical orange plastic bottle and then place it back.", + "Lift up the ridged orange bottle with grooves using the left arm, then shake.", + "Hold the round-bottom bottle with white cap, shake it briefly.", + "Take the orange drink bottle with label using the left arm and give it a shake.", + "Lift the orange drink bottle with label with the left arm and shake it.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Pick up the smooth orange bottle and shake it well.", + "Grab the medium bottle with colorful label and give it a shake.", + "Grasp the grooved orange drink bottle with the left arm and shake it.", + "Use the left arm to lift and shake the orange bottle.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "Hold the orange bottle with the left arm and shake lightly.", + "Grab the plastic bottle with the left arm and shake.", + "Shake the smooth orange bottle after grabbing it.", + "Use the left arm to lift and shake the smooth orange bottle.", + "With the left arm, pick the grooved orange drink bottle and shake properly.", + "Lift the curved orange soda bottle with the left arm and give it a shake.", + "Hold the light and medium-sized bottle steady, then shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the medium bottle with colorful label and shake it properly.", + "Shake the orange drink bottle with label after grabbing it.", + "Use the left arm to pick and shake the grooved orange drink bottle.", + "Pick the light and medium-sized bottle up using the left arm and shake it.", + "Catch the bottle for holding drinks and shake it instantly.", + "Hold and shake the the orange drink bottle with label carefully.", + "Pick the smooth orange bottle up with the left arm and shake.", + "Pick the ridged orange bottle with grooves and perform shaking motion.", + "Shake the plastic bottle using the left arm after grabbing.", + "Grab the grooved orange drink bottle and shake it steadily.", + "Shake the medium bottle with colorful label firmly after grabbing.", + "Use the left arm to grab the medium bottle with colorful label and shake properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Secure the medium bottle with colorful label and perform a shake.", + "Lift the light and medium-sized bottle and shake it thoroughly.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Grab and shake the smooth orange bottle using the left arm.", + "Pick the smooth orange bottle, shake it with the left arm.", + "Grip the ridged orange bottle with grooves using the left arm and shake.", + "Pick up the grooved orange drink bottle and shake it.", + "Grab the medium bottle with colorful label and move it to shake.", + "Shake the bottle for holding drinks after lifting it.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Grab the grooved orange drink bottle firmly, shake it, and put it down.", + "Use the left arm to hold the smooth orange bottle and shake it.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to grab the medium bottle with colorful label and shake it.", + "Grab the grooved orange drink bottle using the left arm, then shake.", + "Shake the plastic bottle after holding it firmly.", + "Using the left arm, shake the ridged orange bottle with grooves and then place it back.", + "Lift up the plastic bottle using the left arm, then shake.", + "Hold the smooth orange bottle, shake it briefly.", + "Take the orange drink bottle with label using the left arm and give it a shake.", + "Lift the orange drink bottle with label with the left arm and shake it.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Lift the medium bottle with colorful label with the left arm and shake.", + "Pick up the medium bottle with colorful label and shake it well.", + "Grab the medium bottle with colorful label and give it a shake.", + "Grasp the grooved orange drink bottle with the left arm and shake it.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Lift the orange drink bottle with label and shake it gently.", + "Hold the orange bottle with the left arm and shake lightly.", + "Grab the cylindrical orange plastic bottle with the left arm and shake.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Lift the bottle for holding drinks with the left arm and give it a shake.", + "Hold the smooth orange bottle steady, then shake it.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Hold the orange drink bottle with label and shake it properly.", + "Shake the orange bottle after grabbing it.", + "Use the left arm to pick and shake the plastic bottle.", + "Pick the smooth orange bottle up using the left arm and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Hold and shake the the medium bottle with colorful label carefully.", + "Pick the orange bottle up with the left arm and shake.", + "Pick the ridged orange bottle with grooves and perform shaking motion.", + "Shake the cylindrical orange plastic bottle using the left arm after grabbing.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Shake the medium bottle with colorful label firmly after grabbing.", + "Use the left arm to grab the grooved orange drink bottle and shake properly.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Secure the ridged orange bottle with grooves and perform a shake.", + "Lift the light and medium-sized bottle and shake it thoroughly.", + "Shake the the orange drink bottle with label properly after lifting.", + "Grab and shake the grooved orange drink bottle using the left arm.", + "Pick the ridged orange bottle with grooves, shake it with the left arm.", + "Grip the orange drink bottle with label using the left arm and shake.", + "Pick up the bottle for holding drinks and shake it.", + "Grab the round-bottom bottle with white cap and move it to shake.", + "Shake the light and medium-sized bottle after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Secure the round-bottom bottle with white cap, shake it, and place it down.", + "Grab the curved orange soda bottle firmly, shake it, and put it down.", + "Use the left arm to hold the light and medium-sized bottle and shake it.", + "Grab the orange drink bottle with label carefully and shake.", + "Use the left arm to grab the curved orange soda bottle and shake it.", + "Grab the light and medium-sized bottle using the left arm, then shake.", + "Shake the round-bottom bottle with white cap after holding it firmly." + ], + "unseen": [ + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode215.json b/shake_bottle/ur5_randomized_500/instructions/episode215.json new file mode 100644 index 0000000000000000000000000000000000000000..6b54282ff950530db8ec61b91cbc6cc5cfcb0ef7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode215.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grab the green bottle with indented base carefully and shake.", + "Hold the medium-sized green bottle and shake it properly.", + "Grab the smooth green bottle and give it a shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Secure the medium green bottle and perform a shake.", + "Shake the handheld green bottle after grabbing it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Pick up the smooth green plastic bottle and shake it.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Shake the plastic bottle after holding it firmly.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Hold and shake the the bottle with narrow top carefully.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the bottle with ridges near base firmly after grabbing.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab and shake the green bottle with indented base using the left arm.", + "Hold the smooth green bottle, shake it briefly.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Grab the smooth green plastic bottle and move it to shake.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the handheld green bottle after lifting it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Catch the handheld green bottle and shake it instantly.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Lift the handheld green bottle and shake it gently.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Lift the smooth green bottle with the left arm and shake.", + "Grasp the medium green bottle with the left arm and shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grab the plastic bottle carefully and shake.", + "Hold the medium green bottle and shake it properly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Secure the handheld green bottle and perform a shake.", + "Shake the medium green bottle after grabbing it.", + "Grab the bottle with rounded neck and shake it steadily.", + "Pick up the smooth green bottle and shake it.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Shake the green bottle with indented base after holding it firmly.", + "Pick up the bottle with rounded neck and shake it well.", + "Hold and shake the the bottle with ridges near base carefully.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the medium green bottle firmly after grabbing.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab and shake the bottle with white printed label using the left arm.", + "Hold the plastic bottle, shake it briefly.", + "Hold the medium green bottle steady, then shake it.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Grab the smooth green bottle and move it to shake.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the bottle with narrow top after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Catch the medium-sized green bottle and shake it instantly.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grab the medium green bottle with the left arm and shake.", + "Lift the handheld green bottle and shake it gently.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Pick the smooth green plastic bottle and perform shaking motion." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode216.json b/shake_bottle/ur5_randomized_500/instructions/episode216.json new file mode 100644 index 0000000000000000000000000000000000000000..c7416b872b07f2d6c300f04b8d36ba62e8ef0ada --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode216.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick and shake the red-capped bottle.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Catch the brown bottle with red label and shake it instantly.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Shake the brown bottle with red label after lifting it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Grab the narrow-necked bottle and shake it steadily.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Pick the red-capped bottle up with the right arm and shake.", + "Pick up the long thin bottle and shake it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Secure the red-capped bottle, shake it, and place it down.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Secure the long thin bottle and perform a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab and shake the brown bottle with red label using the right arm.", + "Shake the plastic drink bottle firmly after grabbing.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Pick up the bottle with white neck and red top and shake it well.", + "Hold the red-capped bottle steady, then shake it.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grab the long thin bottle and move it to shake.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Hold the brown bottle with red label and shake it properly.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grab the brown bottle with red label carefully and shake.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Catch the red-capped bottle and shake it instantly.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Lift the plastic drink bottle with the right arm and give it a shake.", + "Shake the brown bottle with red label after lifting it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Grab the brown bottle with red label and shake it steadily.", + "Shake the the brown bottle with red label properly after lifting.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Grab the bottle with white neck and red top and give it a shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Secure the long thin bottle, shake it, and place it down.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Pick the red-capped bottle, shake it with the right arm.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab and shake the brown bottle with red label using the right arm.", + "Shake the plastic drink bottle firmly after grabbing.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Pick up the narrow-necked bottle and shake it well.", + "Hold the smooth bottle with red lid steady, then shake it.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Hold and shake the the medium dark brown bottle carefully.", + "Grab the long thin bottle carefully and shake." + ], + "unseen": [ + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode217.json b/shake_bottle/ur5_randomized_500/instructions/episode217.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b15945426a133f025d0f86e09d98b7feae330d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode217.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the bottle with a smooth plastic body and shake it instantly.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Shake the medium rectangular yellow bottle using the left arm after grabbing.", + "Shake the bottle with green and white labels after grabbing it.", + "Grip the bottle with white cap using the left arm and shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Use the left arm to grab the yellow container with rounded edges and shake properly.", + "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.", + "Grasp the yellow container with rounded edges with the left arm and shake it.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Lift the bottle with green label and shake it gently.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Hold the yellow plastic bottle with white top with the left arm and shake lightly.", + "Hold the plastic bottle steady, then shake it.", + "Use the left arm to pick and shake the bottle with green and white labels.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Grab the yellow plastic bottle with white top using the left arm, then shake.", + "Hold the yellow bottle with a green design and shake it properly.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Take the smooth bottle with rounded edges using the left arm and give it a shake.", + "Lift the yellow container with rounded edges with the left arm and shake it.", + "Pick up the bottle with green label and shake it.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the bottle with white cap carefully and shake.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Shake the bottle with a smooth plastic body after lifting it.", + "Grab and shake the yellow container with rounded edges using the left arm.", + "Pick up the bottle with green label and shake it well.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Using the left arm, shake the yellow plastic bottle with white top and then place it back.", + "Pick the medium rectangular yellow bottle up using the left arm and shake it.", + "Grab the yellow bottle and give it a shake.", + "Utilize the left arm to hold the medium rectangular yellow bottle and shake it.", + "Shake the bottle with white cap after holding it firmly.", + "Lift the medium rectangular yellow bottle with the left arm and shake.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Grab the yellow bottle and move it to shake.", + "Grab the bottle with a smooth plastic body with the left arm and shake.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Shake the the yellow plastic bottle with white top properly after lifting.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Use the left arm to hold the plastic bottle and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Hold and shake the the bottle with white cap carefully.", + "Shake the rectangular bottle with cylindrical neck using the left arm after grabbing.", + "Shake the bottle with green label after grabbing it.", + "Grip the bottle with green and white labels using the left arm and shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Pick the medium rectangular yellow bottle, shake it with the left arm.", + "Grasp the plastic bottle with the left arm and shake it.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Lift the yellow bottle with a green design and shake it gently.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Use the left arm to pick and shake the bottle with white cap.", + "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Grab the yellow bottle using the left arm, then shake.", + "Hold the bottle with green and white labels and shake it properly.", + "Shake the bottle with green and white labels firmly after grabbing.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Lift the bottle with a smooth plastic body with the left arm and shake it.", + "Pick up the bottle with green label and shake it.", + "Pick the yellow bottle up with the left arm and shake.", + "Lift the yellow container with rounded edges with the left arm and give it a shake.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Grab the bottle with green and white labels carefully and shake.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Shake the bottle with a smooth plastic body after lifting it.", + "Grab and shake the smooth bottle with rounded edges using the left arm.", + "Pick up the yellow container with rounded edges and shake it well.", + "With the left arm, pick the medium rectangular yellow bottle and shake properly.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Pick the medium rectangular yellow bottle up using the left arm and shake it.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Utilize the left arm to hold the bottle with white cap and shake it.", + "Shake the yellow bottle with a green design after holding it firmly.", + "Lift the yellow bottle with the left arm and shake.", + "Use the left arm to grab the medium rectangular yellow bottle and shake it.", + "Shake the bottle with green and white labels after grabbing it.", + "Grab the yellow container with rounded edges and move it to shake.", + "Grab the medium rectangular yellow bottle with the left arm and shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Shake the the plastic bottle properly after lifting.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Use the left arm to hold the plastic bottle and shake it." + ], + "unseen": [ + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode218.json b/shake_bottle/ur5_randomized_500/instructions/episode218.json new file mode 100644 index 0000000000000000000000000000000000000000..04ca47ed9f40a70d99206c2120c50981b2a262c2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode218.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle for liquids firmly after grabbing.", + "Secure the yellow body bottle, shake it, and place it down.", + "Pick the bottle with green and white label up using the left arm and shake it.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Grab the yellow bottle carefully and shake.", + "Use the left arm to lift and shake the rectangular bottle.", + "Lift up the plastic bottle using the left arm, then shake.", + "With the left arm, pick the yellow bottle with cylindrical cap and shake properly.", + "Hold the smooth yellow plastic bottle steady, then shake it.", + "Secure the rectangular bottle and perform a shake.", + "Grab the rectangular bottle and move it to shake.", + "Shake the smooth yellow plastic bottle after grabbing it.", + "Grab the handheld bottle with the left arm and shake.", + "Hold and shake the the plastic bottle carefully.", + "Grab the handheld bottle using the left arm, then shake.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Use the left arm to lift and shake the handheld bottle.", + "Shake the yellow bottle with cylindrical cap using the left arm after grabbing.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick the yellow bottle with cylindrical cap and perform shaking motion.", + "Shake the bottle with green and white label after holding it firmly.", + "Utilize the left arm to hold the bottle with green and white label and shake it.", + "Use the left arm to pick and shake the rectangular bottle.", + "Catch the smooth yellow plastic bottle and shake it instantly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grip the bottle with green and white label using the left arm and shake.", + "Pick up the handheld bottle and shake it well.", + "Hold the yellow bottle with flower design and shake it properly.", + "Lift the yellow bottle with green label with the left arm and shake it.", + "Grab the rectangular bottle and give it a shake.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Shake the yellow body bottle after grabbing it.", + "Grab the smooth yellow plastic bottle and shake it steadily.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Take the yellow bottle with flower design using the left arm and give it a shake.", + "Grab and shake the yellow bottle with flower design using the left arm.", + "Pick up the smooth yellow plastic bottle and shake it.", + "Grab the bottle with green and white label firmly, shake it, and put it down.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Shake the handheld bottle after lifting it.", + "Using the left arm, shake the rectangular bottle and then place it back.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Pick the smooth yellow plastic bottle up with the left arm and shake.", + "Lift the handheld bottle and shake it gently.", + "Hold the yellow bottle with flower design, shake it briefly.", + "Use the left arm to hold the yellow bottle with green label and shake it.", + "Pick the yellow bottle with flower design, shake it with the left arm.", + "Lift the yellow bottle with cylindrical cap with the left arm and shake.", + "Shake the the smooth yellow plastic bottle properly after lifting.", + "Shake the handheld bottle firmly after grabbing.", + "Secure the yellow bottle with flower design, shake it, and place it down.", + "Pick the smooth yellow plastic bottle up using the left arm and shake it.", + "Lift the rectangular bottle with the left arm and give it a shake.", + "Grab the bottle with green and white label carefully and shake.", + "Use the left arm to lift and shake the yellow bottle with cylindrical cap.", + "Lift up the smooth yellow plastic bottle using the left arm, then shake.", + "With the left arm, pick the yellow bottle with cylindrical cap and shake properly.", + "Hold the plastic bottle steady, then shake it.", + "Secure the yellow bottle with green label and perform a shake.", + "Grab the rectangular bottle and move it to shake.", + "Shake the rectangular bottle after grabbing it.", + "Grab the yellow bottle with flower design with the left arm and shake.", + "Hold and shake the the plastic bottle carefully.", + "Grab the smooth yellow plastic bottle using the left arm, then shake.", + "Use the left arm to grab the handheld bottle and shake it.", + "Use the left arm to lift and shake the smooth yellow plastic bottle.", + "Shake the handheld bottle using the left arm after grabbing.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Lift the yellow bottle with flower design and shake it thoroughly.", + "Pick the bottle for liquids and perform shaking motion.", + "Shake the plastic bottle after holding it firmly.", + "Utilize the left arm to hold the bottle with green and white label and shake it.", + "Use the left arm to pick and shake the smooth yellow plastic bottle.", + "Catch the rectangular bottle and shake it instantly.", + "Use the left arm to lift and shake the rectangular bottle.", + "Grip the bottle with green and white label using the left arm and shake.", + "Pick up the yellow body bottle and shake it well.", + "Hold the yellow bottle with green label and shake it properly.", + "Lift the bottle for liquids with the left arm and shake it.", + "Grab the yellow bottle with cylindrical cap and give it a shake.", + "Hold the bottle with green and white label with the left arm and shake lightly.", + "Shake the handheld bottle after grabbing it.", + "Grab the bottle for liquids and shake it steadily.", + "Grasp the rectangular bottle with the left arm and shake it.", + "Take the yellow bottle with cylindrical cap using the left arm and give it a shake.", + "Grab and shake the rectangular bottle using the left arm.", + "Pick up the plastic bottle and shake it.", + "Grab the yellow bottle with green label firmly, shake it, and put it down.", + "Shake the bottle for liquids after grabbing it.", + "Shake the handheld bottle after lifting it.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Use the left arm to grab the rectangular bottle and shake properly.", + "Pick the yellow bottle with green label up with the left arm and shake.", + "Lift the handheld bottle and shake it gently.", + "Hold the bottle with green and white label, shake it briefly.", + "Use the left arm to hold the rectangular bottle and shake it.", + "Pick the bottle for liquids, shake it with the left arm.", + "Lift the yellow bottle with the left arm and shake.", + "Shake the the plastic bottle properly after lifting." + ], + "unseen": [ + "Pick up the bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the medium bottle and shake it.", + "Shake the medium bottle after picking it with the left arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the medium bottle and shake it.", + "Shake the medium bottle after picking it with the left arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the medium bottle and shake it.", + "Shake the bottle with printed label after picking it with the left arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the medium bottle with the left arm and shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the medium bottle and shake it.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with rounded edges and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with printed label and shake it.", + "Shake the bottle with printed label after picking it with the left arm.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the medium bottle with the left arm and shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the bottle with rounded edges and shake it.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with printed label and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Use the left arm to grab the medium bottle and shake.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with printed label and shake it.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the medium bottle and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with rounded edges and shake it.", + "Shake the bottle with printed label after picking it with the left arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the medium bottle.", + "Pick up the medium bottle and shake it.", + "Shake the bottle with printed label after picking it with the left arm.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with rounded edges and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Use the left arm to pick the medium bottle.", + "Pick up the bottle with rounded edges and shake it.", + "Shake the medium bottle after picking it with the left arm.", + "Grab the bottle with printed label and give it a shake.", + "Grab the medium bottle and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode219.json b/shake_bottle/ur5_randomized_500/instructions/episode219.json new file mode 100644 index 0000000000000000000000000000000000000000..2f3a5a5a3a74d0a91c07b61aebed99e913706973 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode219.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the hand-sized bottle with screw cap using the right arm, then shake.", + "Grasp the bottle with cute ghost drawing with the right arm and shake it.", + "Take the bottle shaped like small cylinder using the right arm and give it a shake.", + "Grab the medium cylinder-shaped bottle and give it a shake.", + "Lift the gray bottle with slight shine and shake it thoroughly.", + "Lift the smooth surface bottle with gray shade with the right arm and give it a shake.", + "Lift the bottle shaped like small cylinder with the right arm and shake.", + "Shake the medium-sized plastic bottle using the right arm after grabbing.", + "Secure the smooth cylindrical bottle, shake it, and place it down.", + "Utilize the right arm to hold the medium cylinder-shaped bottle and shake it.", + "Shake the milk-bottle shape design after grabbing it.", + "Use the right arm to pick and shake the light gray colored container bottle.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Grab and shake the plastic bottle with ghost print using the right arm.", + "Shake the bottle with cute ghost drawing after lifting it.", + "Pick up the plastic bottle with ghost print and shake it.", + "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.", + "Pick the rounded body bottle made of plastic, shake it with the right arm.", + "Hold and shake the the smooth surface bottle with gray shade carefully.", + "Hold the medium-sized plastic bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the smooth surface bottle with gray shade.", + "Hold the light gray colored container bottle and shake it properly.", + "Grab the bottle shaped like small cylinder and shake it steadily.", + "Use the right arm to lift and shake the plastic bottle with ghost print.", + "Pick up the gray bottle with slight shine and shake it well.", + "Grab the milk-bottle shape design and move it to shake.", + "Shake the plastic bottle with ghost print after grabbing it.", + "Lift up the medium-sized plastic bottle using the right arm, then shake.", + "Lift the bottle shaped like small cylinder and shake it gently.", + "Secure the bottle with cute ghost drawing and perform a shake.", + "Grab the gray bottle with slight shine with the right arm and shake.", + "With the right arm, pick the rounded body bottle made of plastic and shake properly.", + "Catch the milk-bottle shape design and shake it instantly.", + "Hold the bottle shaped like small cylinder, shake it briefly.", + "Using the right arm, shake the hand-sized bottle with screw cap and then place it back.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Pick the rounded body bottle made of plastic and perform shaking motion.", + "Pick the smooth surface bottle with gray shade up using the right arm and shake it.", + "Shake the the plastic bottle with ghost print properly after lifting.", + "Lift the plastic bottle with ghost print with the right arm and shake it.", + "Use the right arm to grab the light gray colored container bottle and shake properly.", + "Shake the rounded body bottle made of plastic after holding it firmly.", + "Use the right arm to grab the medium cylinder-shaped bottle and shake it.", + "Pick the smooth cylindrical bottle up with the right arm and shake.", + "Grab the bottle with cute ghost drawing carefully and shake.", + "Use the right arm to lift and shake the bottle with cute ghost drawing.", + "Hold the rounded body bottle made of plastic steady, then shake it.", + "Grip the medium-sized plastic bottle using the right arm and shake.", + "Use the right arm to hold the bottle with cute ghost drawing and shake it.", + "Shake the medium-sized plastic bottle firmly after grabbing.", + "Grab the medium cylinder-shaped bottle using the right arm, then shake.", + "Grasp the gray bottle with slight shine with the right arm and shake it.", + "Take the milk-bottle shape design using the right arm and give it a shake.", + "Grab the plastic bottle with ghost print and give it a shake.", + "Lift the gray bottle with slight shine and shake it thoroughly.", + "Lift the bottle with cute ghost drawing with the right arm and give it a shake.", + "Lift the hand-sized bottle with screw cap with the right arm and shake.", + "Shake the milk-bottle shape design using the right arm after grabbing.", + "Secure the gray bottle with slight shine, shake it, and place it down.", + "Utilize the right arm to hold the bottle with cute ghost drawing and shake it.", + "Shake the plastic bottle with ghost print after grabbing it.", + "Use the right arm to pick and shake the plastic bottle with ghost print.", + "Shake the light gray colored container bottle thoroughly after grabbing it.", + "Grab and shake the medium cylinder-shaped bottle using the right arm.", + "Shake the medium cylinder-shaped bottle after lifting it.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Grab the medium cylinder-shaped bottle firmly, shake it, and put it down.", + "Pick the hand-sized bottle with screw cap, shake it with the right arm.", + "Hold and shake the the medium cylinder-shaped bottle carefully.", + "Hold the medium-sized plastic bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the gray bottle with slight shine.", + "Hold the light gray colored container bottle and shake it properly.", + "Grab the gray bottle with slight shine and shake it steadily.", + "Use the right arm to lift and shake the hand-sized bottle with screw cap.", + "Pick up the medium cylinder-shaped bottle and shake it well.", + "Grab the smooth surface bottle with gray shade and move it to shake.", + "Shake the milk-bottle shape design after grabbing it.", + "Lift up the hand-sized bottle with screw cap using the right arm, then shake.", + "Lift the smooth cylindrical bottle and shake it gently.", + "Secure the plastic bottle with ghost print and perform a shake.", + "Grab the gray bottle with slight shine with the right arm and shake.", + "With the right arm, pick the plastic bottle with ghost print and shake properly.", + "Catch the gray bottle with slight shine and shake it instantly.", + "Hold the medium cylinder-shaped bottle, shake it briefly.", + "Using the right arm, shake the plastic bottle with ghost print and then place it back.", + "Shake the milk-bottle shape design after grabbing it.", + "Pick the smooth cylindrical bottle and perform shaking motion.", + "Pick the rounded body bottle made of plastic up using the right arm and shake it.", + "Shake the the light gray colored container bottle properly after lifting.", + "Lift the milk-bottle shape design with the right arm and shake it.", + "Use the right arm to grab the bottle with cute ghost drawing and shake properly.", + "Shake the bottle with cute ghost drawing after holding it firmly.", + "Use the right arm to grab the smooth cylindrical bottle and shake it.", + "Pick the medium cylinder-shaped bottle up with the right arm and shake.", + "Grab the smooth cylindrical bottle carefully and shake.", + "Use the right arm to lift and shake the medium cylinder-shaped bottle.", + "Hold the rounded body bottle made of plastic steady, then shake it.", + "Grip the gray bottle with slight shine using the right arm and shake.", + "Use the right arm to hold the rounded body bottle made of plastic and shake it.", + "Shake the light gray colored container bottle firmly after grabbing." + ], + "unseen": [ + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode22.json b/shake_bottle/ur5_randomized_500/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..0568baa06c6cd6186d17caf8daa30446aa50abc4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle with a smooth plastic body and shake properly.", + "Pick the yellow plastic bottle with white top up using the right arm and shake it.", + "Lift the yellow bottle with a green design with the right arm and shake.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Grab the yellow plastic bottle with white top and shake it steadily.", + "Grab the yellow bottle with a green design and move it to shake.", + "With the right arm, pick the bottle with green and white labels and shake properly.", + "Shake the medium rectangular yellow bottle after holding it firmly.", + "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the yellow bottle after grabbing it.", + "Use the right arm to hold the bottle with green and white labels and shake it.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Shake the yellow bottle with a green design after grabbing it.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Hold the yellow plastic bottle with white top steady, then shake it.", + "Secure the yellow bottle and perform a shake.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Use the right arm to pick and shake the yellow bottle.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Take the bottle with green and white labels using the right arm and give it a shake.", + "Pick the bottle with green and white labels, shake it with the right arm.", + "Shake the smooth bottle with rounded edges firmly after grabbing.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Grab the bottle with green and white labels with the right arm and shake.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Grab the plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Hold the bottle with green label and shake it properly.", + "Pick up the yellow bottle and shake it well.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Lift the yellow bottle and shake it thoroughly.", + "Shake the bottle with green label after lifting it.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Lift the yellow bottle with the right arm and shake it.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Grip the bottle with a smooth plastic body using the right arm and shake.", + "Grab and shake the yellow container with rounded edges using the right arm.", + "Use the right arm to grab the bottle with a smooth plastic body and shake it.", + "Pick up the yellow plastic bottle with white top and shake it.", + "Lift the rectangular bottle with cylindrical neck with the right arm and give it a shake.", + "Hold the yellow plastic bottle with white top with the right arm and shake lightly.", + "Using the right arm, shake the yellow bottle with a green design and then place it back.", + "Grasp the medium rectangular yellow bottle with the right arm and shake it.", + "Shake the yellow bottle with a green design using the right arm after grabbing.", + "Shake the bottle with white cap after grabbing it.", + "Shake the the bottle with green label properly after lifting.", + "Grab the bottle with green and white labels carefully and shake.", + "Use the right arm to grab the bottle with green and white labels and shake properly.", + "Pick the yellow bottle with a green design up using the right arm and shake it.", + "Lift the bottle with green label with the right arm and shake.", + "Catch the bottle with white cap and shake it instantly.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "With the right arm, pick the bottle with green label and shake properly.", + "Shake the yellow bottle after holding it firmly.", + "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.", + "Pick the smooth bottle with rounded edges up with the right arm and shake.", + "Shake the bottle with green label after grabbing it.", + "Use the right arm to hold the bottle with green and white labels and shake it.", + "Secure the smooth bottle with rounded edges, shake it, and place it down.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "Use the right arm to pick and shake the bottle with green label.", + "Lift up the plastic bottle using the right arm, then shake.", + "Take the medium rectangular yellow bottle using the right arm and give it a shake.", + "Pick the smooth bottle with rounded edges, shake it with the right arm.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Hold and shake the the bottle with green label carefully.", + "Grab the smooth bottle with rounded edges with the right arm and shake.", + "Shake the bottle with green label thoroughly after grabbing it.", + "Grab the medium rectangular yellow bottle using the right arm, then shake.", + "Use the right arm to lift and shake the yellow bottle.", + "Hold the plastic bottle and shake it properly.", + "Pick up the yellow container with rounded edges and shake it well.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Shake the bottle with white cap after lifting it.", + "Utilize the right arm to hold the yellow container with rounded edges and shake it.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Grip the smooth bottle with rounded edges using the right arm and shake.", + "Grab and shake the rectangular bottle with cylindrical neck using the right arm.", + "Use the right arm to grab the bottle with green and white labels and shake it.", + "Pick up the yellow container with rounded edges and shake it.", + "Lift the rectangular bottle with cylindrical neck with the right arm and give it a shake.", + "Hold the smooth bottle with rounded edges with the right arm and shake lightly.", + "Using the right arm, shake the yellow container with rounded edges and then place it back.", + "Grasp the yellow container with rounded edges with the right arm and shake it.", + "Shake the yellow plastic bottle with white top using the right arm after grabbing.", + "Shake the bottle with green label after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Grab the bottle with a smooth plastic body carefully and shake." + ], + "unseen": [ + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode220.json b/shake_bottle/ur5_randomized_500/instructions/episode220.json new file mode 100644 index 0000000000000000000000000000000000000000..908cb59479efbb74f9e588ff8ca1c3ea4b2d813a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode220.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the green bottle with black text label using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle with colored label.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Hold the handheld plastic bottle, shake it briefly.", + "Grab and shake the green bottle with white label using the right arm.", + "Grab the bottle with yellow cap with the right arm and shake.", + "Hold and shake the the bottle with yellow cap carefully.", + "Shake the medium bottle with green body after lifting it.", + "Pick the smooth green and yellow bottle and perform shaking motion.", + "Grab the cylindrical liquid bottle with yellow top firmly, shake it, and put it down.", + "Pick up the handheld plastic bottle and shake it well.", + "With the right arm, pick the green bottle with black text label and shake properly.", + "Lift the medium bottle with green body and shake it thoroughly.", + "Shake the the green bottle with white label properly after lifting.", + "Shake the cylindrical liquid bottle with yellow top after holding it firmly.", + "Pick the green bottle with black text label up using the right arm and shake it.", + "Take the smooth green and yellow bottle using the right arm and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake it.", + "Use the right arm to lift and shake the plastic bottle with colored label.", + "Hold the cylindrical bottle with rounded cap steady, then shake it.", + "Shake the plastic bottle with colored label after grabbing it.", + "Lift the green bottle with the right arm and give it a shake.", + "Catch the smooth green and yellow bottle and shake it instantly.", + "Use the right arm to lift and shake the plastic bottle with colored label.", + "Pick up the handheld plastic bottle and shake it.", + "Grab the green bottle and move it to shake.", + "Hold the plastic bottle with colored label with the right arm and shake lightly.", + "Shake the green bottle with black text label thoroughly after grabbing it.", + "Grasp the green bottle with white label with the right arm and shake it.", + "Lift up the cylindrical liquid bottle with yellow top using the right arm, then shake.", + "Secure the bottle with glossy plastic finish, shake it, and place it down.", + "Use the right arm to hold the bottle with yellow cap and shake it.", + "Grab the green bottle carefully and shake.", + "Lift the cylindrical bottle with rounded cap and shake it gently.", + "Lift the smooth green and yellow bottle with the right arm and shake.", + "Pick the medium bottle with green body, shake it with the right arm.", + "Utilize the right arm to hold the green bottle with white label and shake it.", + "Grab the handheld plastic bottle and shake it steadily.", + "Grip the green bottle with black text label using the right arm and shake.", + "Grab the plastic bottle with colored label and give it a shake.", + "Pick the handheld plastic bottle up with the right arm and shake.", + "Shake the bottle with glossy plastic finish after grabbing it.", + "Hold the medium bottle with green body and shake it properly.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Using the right arm, shake the green bottle with black text label and then place it back.", + "Secure the green bottle with white label and perform a shake.", + "Lift the cylindrical bottle with rounded cap with the right arm and shake it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the green bottle with black text label firmly after grabbing.", + "Use the right arm to pick and shake the cylindrical liquid bottle with yellow top.", + "Grab the bottle with yellow cap using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Hold the bottle with glossy plastic finish, shake it briefly.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Grab the cylindrical liquid bottle with yellow top with the right arm and shake.", + "Hold and shake the the medium bottle with green body carefully.", + "Shake the cylindrical liquid bottle with yellow top after lifting it.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Grab the green bottle with black text label firmly, shake it, and put it down.", + "Pick up the plastic bottle with colored label and shake it well.", + "With the right arm, pick the smooth green and yellow bottle and shake properly.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Shake the the cylindrical liquid bottle with yellow top properly after lifting.", + "Shake the bottle with glossy plastic finish after holding it firmly.", + "Pick the plastic bottle with colored label up using the right arm and shake it.", + "Take the green bottle using the right arm and give it a shake.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Use the right arm to lift and shake the bottle with glossy plastic finish.", + "Hold the plastic bottle with colored label steady, then shake it.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Catch the green bottle with black text label and shake it instantly.", + "Use the right arm to lift and shake the medium bottle with green body.", + "Pick up the cylindrical bottle with rounded cap and shake it.", + "Grab the medium bottle with green body and move it to shake.", + "Hold the bottle with yellow cap with the right arm and shake lightly.", + "Shake the cylindrical bottle with rounded cap thoroughly after grabbing it.", + "Grasp the bottle with glossy plastic finish with the right arm and shake it.", + "Lift up the smooth green and yellow bottle using the right arm, then shake.", + "Secure the cylindrical bottle with rounded cap, shake it, and place it down.", + "Use the right arm to hold the bottle with yellow cap and shake it.", + "Grab the handheld plastic bottle carefully and shake.", + "Lift the cylindrical bottle with rounded cap and shake it gently.", + "Lift the green bottle with black text label with the right arm and shake.", + "Pick the green bottle with black text label, shake it with the right arm.", + "Utilize the right arm to hold the plastic bottle with colored label and shake it.", + "Grab the cylindrical bottle with rounded cap and shake it steadily.", + "Grip the green bottle with white label using the right arm and shake.", + "Grab the cylindrical liquid bottle with yellow top and give it a shake.", + "Pick the plastic bottle with colored label up with the right arm and shake.", + "Shake the plastic bottle with colored label after grabbing it.", + "Hold the bottle with yellow cap and shake it properly.", + "Shake the green bottle after grabbing it.", + "Using the right arm, shake the green bottle and then place it back.", + "Secure the smooth green and yellow bottle and perform a shake.", + "Lift the bottle with yellow cap with the right arm and shake it.", + "Shake the smooth green and yellow bottle using the right arm after grabbing.", + "Shake the green bottle firmly after grabbing.", + "Use the right arm to pick and shake the smooth green and yellow bottle." + ], + "unseen": [ + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the bottle with green base and black prints and give it a shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the bottle with green base and black prints and give it a shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and give it a shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Shake the bottle with green base and black prints after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode221.json b/shake_bottle/ur5_randomized_500/instructions/episode221.json new file mode 100644 index 0000000000000000000000000000000000000000..d6b5b1fd1300a1861db77d6c84eb86a7a79ff3d6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode221.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the light and medium-sized bottle steady, then shake it.", + "Grab the ridged orange bottle with grooves and move it to shake.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Use the right arm to grab the curved orange soda bottle and shake properly.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the smooth orange bottle after lifting it.", + "Lift up the orange bottle using the right arm, then shake.", + "Grip the curved orange soda bottle using the right arm and shake.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Shake the light and medium-sized bottle after grabbing it.", + "Lift the round-bottom bottle with white cap with the right arm and shake.", + "Shake the medium bottle with colorful label using the right arm after grabbing.", + "Shake the grooved orange drink bottle after holding it firmly.", + "Use the right arm to hold the medium bottle with colorful label and shake it.", + "Shake the bottle for holding drinks after grabbing it.", + "Grab the light and medium-sized bottle and give it a shake.", + "Grab the orange drink bottle with label carefully and shake.", + "Lift the orange drink bottle with label and shake it thoroughly.", + "Pick up the grooved orange drink bottle and shake it well.", + "Grasp the smooth orange bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Grab the smooth orange bottle with the right arm and shake.", + "Grab the bottle for holding drinks and shake it steadily.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Shake the grooved orange drink bottle after grabbing it.", + "Lift the curved orange soda bottle with the right arm and shake it.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Use the right arm to pick and shake the orange bottle.", + "Hold the round-bottom bottle with white cap, shake it briefly.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Take the bottle for holding drinks using the right arm and give it a shake.", + "Lift the smooth orange bottle and shake it gently.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Lift the bottle for holding drinks with the right arm and give it a shake.", + "Hold and shake the the cylindrical orange plastic bottle carefully.", + "With the right arm, pick the orange bottle and shake properly.", + "Use the right arm to grab the bottle for holding drinks and shake it.", + "Pick the round-bottom bottle with white cap up with the right arm and shake.", + "Shake the the light and medium-sized bottle properly after lifting.", + "Pick the orange drink bottle with label up using the right arm and shake it.", + "Secure the light and medium-sized bottle and perform a shake.", + "Grab the orange drink bottle with label using the right arm, then shake.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Using the right arm, shake the light and medium-sized bottle and then place it back.", + "Utilize the right arm to hold the bottle for holding drinks and shake it.", + "Pick the round-bottom bottle with white cap, shake it with the right arm.", + "Hold the bottle for holding drinks and shake it properly.", + "Grab and shake the light and medium-sized bottle using the right arm.", + "Shake the ridged orange bottle with grooves firmly after grabbing.", + "Hold the plastic bottle steady, then shake it.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Shake the ridged orange bottle with grooves thoroughly after grabbing it.", + "Use the right arm to grab the bottle for holding drinks and shake properly.", + "Hold the medium bottle with colorful label with the right arm and shake lightly.", + "Shake the plastic bottle after lifting it.", + "Lift up the bottle for holding drinks using the right arm, then shake.", + "Grip the ridged orange bottle with grooves using the right arm and shake.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Shake the bottle for holding drinks after grabbing it.", + "Lift the bottle for holding drinks with the right arm and shake.", + "Shake the ridged orange bottle with grooves using the right arm after grabbing.", + "Shake the round-bottom bottle with white cap after holding it firmly.", + "Use the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Grab the ridged orange bottle with grooves carefully and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick up the grooved orange drink bottle and shake it well.", + "Grasp the orange drink bottle with label with the right arm and shake it.", + "Use the right arm to lift and shake the orange bottle.", + "Grab the orange bottle with the right arm and shake.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Shake the medium bottle with colorful label after grabbing it.", + "Lift the plastic bottle with the right arm and shake it.", + "Pick up the plastic bottle and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Hold the orange drink bottle with label, shake it briefly.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Take the plastic bottle using the right arm and give it a shake.", + "Lift the plastic bottle and shake it gently.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Lift the grooved orange drink bottle with the right arm and give it a shake.", + "Hold and shake the the orange drink bottle with label carefully.", + "With the right arm, pick the cylindrical orange plastic bottle and shake properly.", + "Use the right arm to grab the grooved orange drink bottle and shake it.", + "Pick the orange bottle up with the right arm and shake.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Pick the plastic bottle up using the right arm and shake it.", + "Secure the plastic bottle and perform a shake.", + "Grab the cylindrical orange plastic bottle using the right arm, then shake.", + "Pick the round-bottom bottle with white cap and perform shaking motion.", + "Catch the cylindrical orange plastic bottle and shake it instantly.", + "Using the right arm, shake the bottle for holding drinks and then place it back.", + "Utilize the right arm to hold the light and medium-sized bottle and shake it.", + "Pick the ridged orange bottle with grooves, shake it with the right arm.", + "Hold the smooth orange bottle and shake it properly.", + "Grab and shake the bottle for holding drinks using the right arm.", + "Shake the ridged orange bottle with grooves firmly after grabbing." + ], + "unseen": [ + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode222.json b/shake_bottle/ur5_randomized_500/instructions/episode222.json new file mode 100644 index 0000000000000000000000000000000000000000..c556cb1aa92a0d1f5742a58add72ce824e437a07 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode222.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow bottle with dark label with the left arm and shake it.", + "Pick the yellow bottle with blue label, shake it with the left arm.", + "Hold the medium-sized bottle with the left arm and shake lightly.", + "Pick the yellow bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Grab the smooth plastic bottle carefully and shake.", + "Hold the yellow bottle with dark label steady, then shake it.", + "Lift the medium plastic bottle with cap with the left arm and shake.", + "Secure the yellow bottle, shake it, and place it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the handheld curvy bottle and shake properly.", + "Pick the handheld curvy bottle up with the left arm and shake.", + "Shake the handheld curvy bottle after holding it firmly.", + "Shake the handheld curvy bottle using the left arm after grabbing.", + "Shake the yellow bottle with blue label after grabbing it.", + "Grab the medium-sized bottle firmly, shake it, and put it down.", + "Shake the plastic bottle with curved sides thoroughly after grabbing it.", + "Grab the handheld curvy bottle and shake it steadily.", + "Shake the plastic bottle firmly after grabbing.", + "Using the left arm, shake the bottle for liquid and then place it back.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Grab the plastic bottle with curved sides using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the yellow bottle for liquid storage, shake it briefly.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Pick up the medium-sized bottle and shake it well.", + "Grab the medium-sized bottle and move it to shake.", + "Grasp the yellow bottle with the left arm and shake it.", + "Secure the yellow bottle and perform a shake.", + "Use the left arm to grab the yellow bottle with blue label and shake it.", + "Use the left arm to pick and shake the plastic bottle.", + "Catch the plastic bottle and shake it instantly.", + "Shake the yellow bottle with dark label after lifting it.", + "Shake the handheld curvy bottle after grabbing it.", + "Lift up the plastic bottle using the left arm, then shake.", + "Shake the handheld curvy bottle after grabbing it.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Pick up the medium-sized bottle and shake it.", + "Hold and shake the the smooth plastic bottle carefully.", + "Lift the yellow bottle with blue label and shake it gently.", + "Take the bottle with screw cap using the left arm and give it a shake.", + "Hold the bottle for liquid and shake it properly.", + "Shake the the medium plastic bottle with cap properly after lifting.", + "Grab the plastic bottle with curved sides with the left arm and shake.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Lift the yellow bottle with blue label and shake it thoroughly.", + "Grip the yellow bottle for liquid storage using the left arm and shake.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Grab and shake the yellow bottle with blue label using the left arm.", + "Lift the plastic bottle with curved sides with the left arm and shake it.", + "Pick the yellow bottle with blue label, shake it with the left arm.", + "Hold the bottle for liquid with the left arm and shake lightly.", + "Pick the yellow bottle for liquid storage up using the left arm and shake it.", + "Use the left arm to lift and shake the yellow bottle for liquid storage.", + "Grab the bottle with screw cap carefully and shake.", + "Hold the plastic bottle steady, then shake it.", + "Lift the medium plastic bottle with cap with the left arm and shake.", + "Secure the yellow bottle with dark label, shake it, and place it down.", + "Grab the yellow bottle and give it a shake.", + "Use the left arm to grab the bottle with screw cap and shake properly.", + "Pick the yellow bottle up with the left arm and shake.", + "Shake the medium-sized bottle after holding it firmly.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Shake the handheld curvy bottle after grabbing it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the bottle for liquid and shake it steadily.", + "Shake the yellow bottle firmly after grabbing.", + "Using the left arm, shake the medium-sized bottle and then place it back.", + "With the left arm, pick the yellow bottle with dark label and shake properly.", + "Use the left arm to hold the bottle with screw cap and shake it.", + "Grab the yellow bottle with dark label using the left arm, then shake.", + "Use the left arm to lift and shake the yellow bottle for liquid storage.", + "Hold the medium plastic bottle with cap, shake it briefly.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Pick up the medium-sized bottle and shake it well.", + "Grab the yellow bottle with dark label and move it to shake.", + "Grasp the medium plastic bottle with cap with the left arm and shake it.", + "Secure the handheld curvy bottle and perform a shake.", + "Use the left arm to grab the yellow bottle with dark label and shake it.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Catch the plastic bottle with curved sides and shake it instantly.", + "Shake the handheld curvy bottle after lifting it.", + "Shake the smooth plastic bottle after grabbing it.", + "Lift up the yellow bottle with blue label using the left arm, then shake.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Lift the yellow bottle with the left arm and give it a shake.", + "Pick up the plastic bottle with curved sides and shake it.", + "Hold and shake the the yellow bottle for liquid storage carefully.", + "Lift the yellow bottle with dark label and shake it gently.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Hold the bottle for liquid and shake it properly.", + "Shake the the plastic bottle with curved sides properly after lifting.", + "Grab the plastic bottle with curved sides with the left arm and shake.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Grip the medium plastic bottle with cap using the left arm and shake.", + "Pick the bottle with screw cap and perform shaking motion.", + "Grab and shake the plastic bottle using the left arm." + ], + "unseen": [ + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode223.json b/shake_bottle/ur5_randomized_500/instructions/episode223.json new file mode 100644 index 0000000000000000000000000000000000000000..1128900c610dc5b9b8b163e6b7f79cbb8dcb9b45 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode223.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the medium bottle with green body.", + "Pick up the bottle with glossy plastic finish and shake it.", + "Hold the medium bottle with green body, shake it briefly.", + "Grab the green bottle with black text label and move it to shake.", + "Lift the medium bottle with green body with the right arm and shake it.", + "Grasp the green bottle with white label with the right arm and shake it.", + "Pick the green bottle with black text label and perform shaking motion.", + "Shake the medium bottle with green body after holding it firmly.", + "Grab the green bottle with white label and shake it steadily.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the plastic bottle with colored label firmly after grabbing.", + "Pick the medium bottle with green body, shake it with the right arm.", + "Hold the bottle with yellow cap steady, then shake it.", + "Shake the medium bottle with green body thoroughly after grabbing it.", + "Hold the cylindrical liquid bottle with yellow top with the right arm and shake lightly.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Grip the bottle with glossy plastic finish using the right arm and shake.", + "Utilize the right arm to hold the medium bottle with green body and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the handheld plastic bottle up with the right arm and shake.", + "Use the right arm to pick and shake the handheld plastic bottle.", + "Lift up the cylindrical liquid bottle with yellow top using the right arm, then shake.", + "Grab and shake the handheld plastic bottle using the right arm.", + "Hold and shake the the plastic bottle with colored label carefully.", + "Lift the smooth green and yellow bottle with the right arm and give it a shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Hold the medium bottle with green body and shake it properly.", + "Grab the handheld plastic bottle and give it a shake.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Grab the cylindrical liquid bottle with yellow top carefully and shake.", + "Secure the handheld plastic bottle and perform a shake.", + "Use the right arm to lift and shake the bottle with glossy plastic finish.", + "Shake the the green bottle with black text label properly after lifting.", + "Lift the plastic bottle with colored label and shake it gently.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "With the right arm, pick the smooth green and yellow bottle and shake properly.", + "Grab the smooth green and yellow bottle with the right arm and shake.", + "Take the bottle with glossy plastic finish using the right arm and give it a shake.", + "Catch the cylindrical bottle with rounded cap and shake it instantly.", + "Lift the medium bottle with green body with the right arm and shake.", + "Pick the cylindrical bottle with rounded cap up using the right arm and shake it.", + "Use the right arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Use the right arm to grab the plastic bottle with colored label and shake it.", + "Grab the handheld plastic bottle using the right arm, then shake.", + "Using the right arm, shake the green bottle with black text label and then place it back.", + "Shake the green bottle with black text label after lifting it.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Shake the cylindrical bottle with rounded cap using the right arm after grabbing.", + "Use the right arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Pick up the green bottle and shake it.", + "Hold the green bottle, shake it briefly.", + "Grab the smooth green and yellow bottle and move it to shake.", + "Lift the handheld plastic bottle with the right arm and shake it.", + "Grasp the cylindrical liquid bottle with yellow top with the right arm and shake it.", + "Pick the bottle with glossy plastic finish and perform shaking motion.", + "Shake the green bottle with white label after holding it firmly.", + "Grab the handheld plastic bottle and shake it steadily.", + "Shake the green bottle with black text label after grabbing it.", + "Shake the cylindrical liquid bottle with yellow top firmly after grabbing.", + "Pick the green bottle with white label, shake it with the right arm.", + "Hold the green bottle with black text label steady, then shake it.", + "Shake the green bottle with black text label thoroughly after grabbing it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the green bottle with white label after grabbing it.", + "Grip the plastic bottle with colored label using the right arm and shake.", + "Utilize the right arm to hold the handheld plastic bottle and shake it.", + "Use the right arm to lift and shake the green bottle with white label.", + "Pick the bottle with yellow cap up with the right arm and shake.", + "Use the right arm to pick and shake the cylindrical liquid bottle with yellow top.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Hold and shake the the plastic bottle with colored label carefully.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Pick up the smooth green and yellow bottle and shake it well.", + "Hold the green bottle and shake it properly.", + "Grab the cylindrical liquid bottle with yellow top and give it a shake.", + "Lift the medium bottle with green body and shake it thoroughly.", + "Grab the handheld plastic bottle carefully and shake.", + "Secure the bottle with glossy plastic finish and perform a shake.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Shake the the cylindrical liquid bottle with yellow top properly after lifting.", + "Lift the bottle with glossy plastic finish and shake it gently.", + "Use the right arm to grab the green bottle with black text label and shake properly.", + "Grab the plastic bottle with colored label firmly, shake it, and put it down.", + "With the right arm, pick the bottle with yellow cap and shake properly.", + "Grab the cylindrical bottle with rounded cap with the right arm and shake.", + "Take the plastic bottle with colored label using the right arm and give it a shake.", + "Catch the cylindrical liquid bottle with yellow top and shake it instantly.", + "Lift the green bottle with white label with the right arm and shake.", + "Pick the cylindrical bottle with rounded cap up using the right arm and shake it.", + "Use the right arm to hold the green bottle with black text label and shake it.", + "Secure the handheld plastic bottle, shake it, and place it down.", + "Use the right arm to grab the green bottle with black text label and shake it.", + "Grab the green bottle with black text label using the right arm, then shake.", + "Using the right arm, shake the cylindrical bottle with rounded cap and then place it back.", + "Shake the medium bottle with green body after lifting it.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Shake the bottle with glossy plastic finish using the right arm after grabbing." + ], + "unseen": [ + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to pick the yellow-capped bottle with smooth surface." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode224.json b/shake_bottle/ur5_randomized_500/instructions/episode224.json new file mode 100644 index 0000000000000000000000000000000000000000..20816ba5befeb9f4831b286d44d2870f2e67cc64 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode224.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow bottle after holding it firmly.", + "Lift the medium rectangular yellow bottle and shake it thoroughly.", + "Grab the bottle with a smooth plastic body with the right arm and shake.", + "Take the bottle with green label using the right arm and give it a shake.", + "Use the right arm to hold the medium rectangular yellow bottle and shake it.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Shake the the bottle with white cap properly after lifting.", + "Shake the bottle with green and white labels after grabbing it.", + "Hold the bottle with green label steady, then shake it.", + "Pick the bottle with a smooth plastic body up with the right arm and shake.", + "Grab the yellow bottle with a green design using the right arm, then shake.", + "Secure the bottle with a smooth plastic body and perform a shake.", + "Grab and shake the bottle with green label using the right arm.", + "Hold and shake the the bottle with green label carefully.", + "Pick up the bottle with green and white labels and shake it well.", + "Lift the medium rectangular yellow bottle with the right arm and give it a shake.", + "Grab the bottle with white cap carefully and shake.", + "Shake the bottle with white cap after grabbing it.", + "Shake the plastic bottle after lifting it.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Use the right arm to lift and shake the bottle with white cap.", + "Catch the bottle with a smooth plastic body and shake it instantly.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Use the right arm to pick and shake the yellow bottle.", + "Pick the bottle with white cap and perform shaking motion.", + "Grip the bottle with a smooth plastic body using the right arm and shake.", + "With the right arm, pick the bottle with green and white labels and shake properly.", + "Shake the yellow plastic bottle with white top using the right arm after grabbing.", + "Secure the yellow bottle with a green design, shake it, and place it down.", + "Grab the plastic bottle and give it a shake.", + "Pick up the bottle with green label and shake it.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Using the right arm, shake the bottle with green label and then place it back.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Grab the bottle with white cap and shake it steadily.", + "Grasp the smooth bottle with rounded edges with the right arm and shake it.", + "Pick the rectangular bottle with cylindrical neck, shake it with the right arm.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake it.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Lift up the medium rectangular yellow bottle using the right arm, then shake.", + "Lift the medium rectangular yellow bottle with the right arm and shake it.", + "Shake the bottle with green label after grabbing it.", + "Hold the yellow container with rounded edges with the right arm and shake lightly.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Pick the bottle with white cap up using the right arm and shake it.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Lift the yellow plastic bottle with white top with the right arm and shake.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Shake the smooth bottle with rounded edges after holding it firmly.", + "Lift the bottle with green and white labels and shake it thoroughly.", + "Grab the bottle with a smooth plastic body with the right arm and shake.", + "Take the yellow bottle with a green design using the right arm and give it a shake.", + "Use the right arm to hold the bottle with green label and shake it.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Shake the the bottle with a smooth plastic body properly after lifting.", + "Shake the bottle with green label after grabbing it.", + "Hold the smooth bottle with rounded edges steady, then shake it.", + "Pick the yellow container with rounded edges up with the right arm and shake.", + "Grab the bottle with a smooth plastic body using the right arm, then shake.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Grab and shake the bottle with white cap using the right arm.", + "Hold and shake the the smooth bottle with rounded edges carefully.", + "Pick up the medium rectangular yellow bottle and shake it well.", + "Lift the yellow bottle with a green design with the right arm and give it a shake.", + "Grab the yellow bottle with a green design carefully and shake.", + "Shake the plastic bottle after grabbing it.", + "Shake the plastic bottle after lifting it.", + "Use the right arm to grab the bottle with a smooth plastic body and shake properly.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Catch the plastic bottle and shake it instantly.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Use the right arm to lift and shake the bottle with white cap.", + "Use the right arm to pick and shake the medium rectangular yellow bottle.", + "Pick the medium rectangular yellow bottle and perform shaking motion.", + "Grip the rectangular bottle with cylindrical neck using the right arm and shake.", + "With the right arm, pick the bottle with a smooth plastic body and shake properly.", + "Shake the medium rectangular yellow bottle using the right arm after grabbing.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Grab the bottle with green label and give it a shake.", + "Pick up the yellow container with rounded edges and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Using the right arm, shake the bottle with green and white labels and then place it back.", + "Hold the yellow bottle with a green design and shake it properly.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Grasp the plastic bottle with the right arm and shake it.", + "Pick the bottle with a smooth plastic body, shake it with the right arm.", + "Hold the plastic bottle, shake it briefly.", + "Use the right arm to grab the bottle with green and white labels and shake it.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Lift up the smooth bottle with rounded edges using the right arm, then shake.", + "Lift the bottle with a smooth plastic body with the right arm and shake it.", + "Shake the bottle with green label after grabbing it.", + "Hold the yellow container with rounded edges with the right arm and shake lightly.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Lift the yellow container with rounded edges with the right arm and shake.", + "Lift the yellow bottle and shake it gently." + ], + "unseen": [ + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode225.json b/shake_bottle/ur5_randomized_500/instructions/episode225.json new file mode 100644 index 0000000000000000000000000000000000000000..afcd3c244311950875ad400f7a7e7461e70a5482 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode225.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow-capped plastic bottle after holding it firmly.", + "Use the left arm to hold the bottle with yellow cap and shake it.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Grab the cylindrical orange bottle with yellow top and give it a shake.", + "Grab and shake the bottle with yellow cap using the left arm.", + "Use the left arm to grab the medium-sized orange bottle and shake properly.", + "Lift the yellow-capped plastic bottle and shake it gently.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the plastic bottle up with the left arm and shake.", + "Grip the plastic bottle using the left arm and shake.", + "Pick up the medium-sized orange bottle and shake it well.", + "Grab the medium-sized orange bottle and move it to shake.", + "Hold the bottle for liquids, shake it briefly.", + "Shake the bottle with narrow neck firmly after grabbing.", + "Pick the bottle with yellow cap, shake it with the left arm.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Shake the bottle with yellow cap using the left arm after grabbing.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Secure the orange cylindrical bottle, shake it, and place it down.", + "Catch the bottle with printed label and shake it instantly.", + "Grab the orange cylindrical bottle with the left arm and shake.", + "Shake the medium-sized orange bottle after lifting it.", + "Hold the plastic bottle and shake it properly.", + "Hold the medium-sized orange bottle with the left arm and shake lightly.", + "Shake the bottle with narrow neck after grabbing it.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift the plastic bottle with sealed yellow cap with the left arm and shake it.", + "Shake the orange cylindrical bottle thoroughly after grabbing it.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Take the orange cylindrical bottle using the left arm and give it a shake.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Use the left arm to grab the yellow-capped plastic bottle and shake it.", + "Pick up the cylindrical orange bottle with yellow top and shake it.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Use the left arm to lift and shake the bottle for liquids.", + "Utilize the left arm to hold the bottle with printed label and shake it.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Lift the bottle with yellow cap with the left arm and give it a shake.", + "Hold and shake the the bottle for liquids carefully.", + "Shake the bottle with narrow neck after grabbing it.", + "Pick the plastic bottle and perform shaking motion.", + "Grab the bottle with printed label and shake it steadily.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.", + "Lift up the bottle with printed label using the left arm, then shake.", + "Grasp the medium-sized orange bottle with the left arm and shake it.", + "Use the left arm to pick and shake the orange bottle.", + "Lift the orange cylindrical bottle with the left arm and shake.", + "Shake the bottle with yellow cap after holding it firmly.", + "Use the left arm to hold the bottle with printed label and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth plastic bottle and give it a shake.", + "Grab and shake the orange bottle using the left arm.", + "Use the left arm to grab the bottle with narrow neck and shake properly.", + "Lift the yellow-capped plastic bottle and shake it gently.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Pick the bottle for liquids up with the left arm and shake.", + "Grip the bottle for liquids using the left arm and shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Grab the yellow-capped plastic bottle and move it to shake.", + "Hold the orange cylindrical bottle, shake it briefly.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Pick the bottle with printed label, shake it with the left arm.", + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "Catch the smooth plastic bottle and shake it instantly.", + "Grab the bottle with narrow neck with the left arm and shake.", + "Shake the yellow-capped plastic bottle after lifting it.", + "Hold the cylindrical orange bottle with yellow top and shake it properly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Grab the bottle with yellow cap using the left arm, then shake.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Take the plastic bottle with sealed yellow cap using the left arm and give it a shake.", + "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.", + "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.", + "Pick up the smooth plastic bottle and shake it.", + "Lift the orange cylindrical bottle and shake it thoroughly.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Utilize the left arm to hold the medium-sized orange bottle and shake it.", + "Secure the orange cylindrical bottle and perform a shake.", + "Lift the orange bottle with the left arm and give it a shake.", + "Hold and shake the the bottle with yellow cap carefully.", + "Shake the bottle with narrow neck after grabbing it.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Hold the smooth plastic bottle steady, then shake it.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Use the left arm to lift and shake the bottle with printed label.", + "Pick the medium-sized orange bottle up using the left arm and shake it.", + "Lift up the medium-sized orange bottle using the left arm, then shake.", + "Grasp the plastic bottle with the left arm and shake it.", + "Use the left arm to pick and shake the bottle for liquids.", + "Lift the orange bottle with the left arm and shake." + ], + "unseen": [ + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode226.json b/shake_bottle/ur5_randomized_500/instructions/episode226.json new file mode 100644 index 0000000000000000000000000000000000000000..19d385060e0afd348b3b14f657826708ab490c32 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode226.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the brown bottle using the left arm and shake.", + "Grab the cylindrical bottle with white label and give it a shake.", + "Grab the small drink bottle with logo and move it to shake.", + "Secure the brown bottle with white printed label and perform a shake.", + "Grab the bottle with green cap with the left arm and shake.", + "Utilize the left arm to hold the cylindrical bottle with white label and shake it.", + "Use the left arm to hold the brown bottle and shake it.", + "Hold the green-capped bottle steady, then shake it.", + "Shake the the bottle with green cap properly after lifting.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Shake the brown bottle with white printed label after holding it firmly.", + "With the left arm, pick the cylindrical bottle with white label and shake properly.", + "Shake the small drink bottle with logo after grabbing it.", + "Using the left arm, shake the brown bottle with white printed label and then place it back.", + "Lift up the bottle with tapered cylindrical shape using the left arm, then shake.", + "Grab the brown bottle with white printed label firmly, shake it, and put it down.", + "Pick up the plastic bottle with ribbed pattern and shake it well.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Shake the small brown plastic bottle after lifting it.", + "Use the left arm to lift and shake the hand-sized bottle with grooves.", + "Use the left arm to grab the small brown plastic bottle and shake properly.", + "Use the left arm to grab the cylindrical bottle with white label and shake it.", + "Hold the brown bottle, shake it briefly.", + "Lift the green-capped bottle with the left arm and shake.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Take the brown bottle using the left arm and give it a shake.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Pick the small drink bottle with logo up using the left arm and shake it.", + "Shake the brown bottle after grabbing it.", + "Secure the small drink bottle with logo, shake it, and place it down.", + "Use the left arm to lift and shake the brown bottle.", + "Lift the hand-sized bottle with grooves with the left arm and shake it.", + "Pick the small drink bottle with logo and perform shaking motion.", + "Hold the small drink bottle with logo with the left arm and shake lightly.", + "Pick the small drink bottle with logo, shake it with the left arm.", + "Hold and shake the the brown bottle with white printed label carefully.", + "Lift the brown bottle with white printed label and shake it gently.", + "Grab and shake the small brown plastic bottle using the left arm.", + "Grasp the plastic bottle with ribbed pattern with the left arm and shake it.", + "Pick the bottle with green cap up with the left arm and shake.", + "Shake the plastic bottle with ribbed pattern firmly after grabbing.", + "Grab the smooth plastic bottle for beverages carefully and shake.", + "Hold the brown bottle and shake it properly.", + "Lift the bottle with green cap and shake it thoroughly.", + "Use the left arm to pick and shake the bottle with tapered cylindrical shape.", + "Pick up the small drink bottle with logo and shake it.", + "Grab the bottle with tapered cylindrical shape and shake it steadily.", + "Lift the cylindrical bottle with white label with the left arm and give it a shake.", + "Grab the brown bottle with green screw-on cap using the left arm, then shake.", + "Catch the green-capped bottle and shake it instantly.", + "Grip the bottle with tapered cylindrical shape using the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the smooth plastic bottle for beverages and move it to shake.", + "Secure the brown bottle and perform a shake.", + "Grab the brown bottle with the left arm and shake.", + "Utilize the left arm to hold the small brown plastic bottle and shake it.", + "Use the left arm to hold the bottle with green cap and shake it.", + "Hold the bottle with green cap steady, then shake it.", + "Shake the the brown bottle with green screw-on cap properly after lifting.", + "Shake the green-capped bottle using the left arm after grabbing.", + "Shake the green-capped bottle after holding it firmly.", + "With the left arm, pick the plastic bottle with ribbed pattern and shake properly.", + "Shake the bottle with green cap after grabbing it.", + "Using the left arm, shake the hand-sized bottle with grooves and then place it back.", + "Lift up the bottle with tapered cylindrical shape using the left arm, then shake.", + "Grab the bottle with tapered cylindrical shape firmly, shake it, and put it down.", + "Pick up the hand-sized bottle with grooves and shake it well.", + "Use the left arm to lift and shake the brown bottle with white printed label.", + "Shake the green-capped bottle after lifting it.", + "Use the left arm to lift and shake the brown bottle.", + "Use the left arm to grab the brown bottle and shake properly.", + "Use the left arm to grab the green-capped bottle and shake it.", + "Hold the bottle with tapered cylindrical shape, shake it briefly.", + "Lift the cylindrical bottle with white label with the left arm and shake.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Take the smooth plastic bottle for beverages using the left arm and give it a shake.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Pick the cylindrical bottle with white label up using the left arm and shake it.", + "Shake the small brown plastic bottle after grabbing it.", + "Secure the brown bottle with green screw-on cap, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Lift the small drink bottle with logo with the left arm and shake it.", + "Pick the bottle with green cap and perform shaking motion.", + "Hold the small drink bottle with logo with the left arm and shake lightly.", + "Pick the smooth plastic bottle for beverages, shake it with the left arm.", + "Hold and shake the the cylindrical bottle with white label carefully.", + "Lift the cylindrical bottle with white label and shake it gently.", + "Grab and shake the hand-sized bottle with grooves using the left arm.", + "Grasp the hand-sized bottle with grooves with the left arm and shake it.", + "Pick the bottle with tapered cylindrical shape up with the left arm and shake.", + "Shake the small drink bottle with logo firmly after grabbing.", + "Grab the plastic bottle with ribbed pattern carefully and shake.", + "Hold the brown bottle with white printed label and shake it properly.", + "Lift the brown bottle with white printed label and shake it thoroughly.", + "Use the left arm to pick and shake the green-capped bottle.", + "Pick up the cylindrical bottle with white label and shake it.", + "Grab the bottle with green cap and shake it steadily.", + "Lift the plastic bottle with ribbed pattern with the left arm and give it a shake.", + "Grab the bottle with green cap using the left arm, then shake.", + "Catch the brown bottle and shake it instantly." + ], + "unseen": [ + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode227.json b/shake_bottle/ur5_randomized_500/instructions/episode227.json new file mode 100644 index 0000000000000000000000000000000000000000..9913cfe8d082d738b66c2c14bd53f60b8f770816 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode227.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the plastic bottle with curved sides and then place it back.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Secure the yellow bottle with dark label, shake it, and place it down.", + "Shake the bottle with screw cap thoroughly after grabbing it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Grab the medium-sized bottle and move it to shake.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Lift up the yellow bottle with blue label using the right arm, then shake.", + "Shake the yellow bottle after grabbing it.", + "Lift the handheld curvy bottle with the right arm and give it a shake.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Pick the plastic bottle with curved sides, shake it with the right arm.", + "Pick the yellow bottle and perform shaking motion.", + "Pick the bottle with screw cap up with the right arm and shake.", + "With the right arm, pick the plastic bottle with curved sides and shake properly.", + "Hold the plastic bottle, shake it briefly.", + "Grab and shake the yellow bottle for liquid storage using the right arm.", + "Shake the medium-sized bottle after lifting it.", + "Catch the smooth plastic bottle and shake it instantly.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Lift the yellow bottle with dark label with the right arm and shake it.", + "Shake the yellow bottle with dark label firmly after grabbing.", + "Pick up the plastic bottle and shake it well.", + "Use the right arm to pick and shake the yellow bottle.", + "Hold the yellow bottle with blue label steady, then shake it.", + "Hold and shake the the yellow bottle with dark label carefully.", + "Grab the yellow bottle with blue label carefully and shake.", + "Pick the yellow bottle up using the right arm and shake it.", + "Hold the medium-sized bottle and shake it properly.", + "Grab the yellow bottle for liquid storage firmly, shake it, and put it down.", + "Lift the medium plastic bottle with cap and shake it gently.", + "Lift the yellow bottle for liquid storage with the right arm and shake.", + "Shake the yellow bottle after holding it firmly.", + "Grab the handheld curvy bottle and shake it steadily.", + "Lift the bottle for liquid and shake it thoroughly.", + "Grasp the yellow bottle with the right arm and shake it.", + "Grab the bottle with screw cap using the right arm, then shake.", + "Shake the the plastic bottle properly after lifting.", + "Use the right arm to hold the plastic bottle with curved sides and shake it.", + "Pick up the plastic bottle and shake it.", + "Grip the yellow bottle for liquid storage using the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake properly.", + "Grab the handheld curvy bottle and give it a shake.", + "Shake the yellow bottle after grabbing it.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Secure the plastic bottle with curved sides and perform a shake.", + "Use the right arm to grab the handheld curvy bottle and shake it.", + "Take the yellow bottle for liquid storage using the right arm and give it a shake.", + "Hold the plastic bottle with curved sides with the right arm and shake lightly.", + "Using the right arm, shake the handheld curvy bottle and then place it back.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "Use the right arm to lift and shake the yellow bottle.", + "Secure the yellow bottle with blue label, shake it, and place it down.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Shake the yellow bottle for liquid storage using the right arm after grabbing.", + "Grab the medium plastic bottle with cap and move it to shake.", + "Use the right arm to lift and shake the yellow bottle with dark label.", + "Lift up the yellow bottle using the right arm, then shake.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Grab the plastic bottle with the right arm and shake.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Pick the yellow bottle for liquid storage and perform shaking motion.", + "Pick the yellow bottle for liquid storage up with the right arm and shake.", + "With the right arm, pick the handheld curvy bottle and shake properly.", + "Hold the smooth plastic bottle, shake it briefly.", + "Grab and shake the bottle with screw cap using the right arm.", + "Shake the smooth plastic bottle after lifting it.", + "Catch the smooth plastic bottle and shake it instantly.", + "Shake the medium-sized bottle after grabbing it.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Use the right arm to pick and shake the bottle with screw cap.", + "Hold the handheld curvy bottle steady, then shake it.", + "Hold and shake the the medium-sized bottle carefully.", + "Grab the bottle with screw cap carefully and shake.", + "Pick the handheld curvy bottle up using the right arm and shake it.", + "Hold the medium-sized bottle and shake it properly.", + "Grab the yellow bottle with dark label firmly, shake it, and put it down.", + "Lift the handheld curvy bottle and shake it gently.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Shake the medium-sized bottle after holding it firmly.", + "Grab the plastic bottle and shake it steadily.", + "Lift the yellow bottle for liquid storage and shake it thoroughly.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Grab the yellow bottle for liquid storage using the right arm, then shake.", + "Shake the the yellow bottle with dark label properly after lifting.", + "Use the right arm to hold the medium-sized bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grip the yellow bottle for liquid storage using the right arm and shake.", + "Use the right arm to grab the yellow bottle and shake properly.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow bottle with blue label after grabbing it.", + "Utilize the right arm to hold the yellow bottle with dark label and shake it.", + "Secure the bottle with screw cap and perform a shake.", + "Use the right arm to grab the yellow bottle with dark label and shake it.", + "Take the yellow bottle with blue label using the right arm and give it a shake.", + "Hold the medium-sized bottle with the right arm and shake lightly." + ], + "unseen": [ + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode228.json b/shake_bottle/ur5_randomized_500/instructions/episode228.json new file mode 100644 index 0000000000000000000000000000000000000000..675eea0bf9ce02ef4fa6cc98e9cc619d4cb74956 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode228.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium bottle with orange lid firmly, shake it, and put it down.", + "Grab the orange bottle using the left arm, then shake.", + "Pick up the orange bottle and shake it.", + "Use the left arm to lift and shake the cylindrical orange and white bottle.", + "Lift the drinking bottle with yellow label with the left arm and shake it.", + "Pick up the orange and white bottle with cap and shake it well.", + "Grab and shake the cylindrical orange and white bottle using the left arm.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Hold and shake the the white and orange plastic bottle carefully.", + "Lift the yellow label bottle and shake it thoroughly.", + "Lift up the medium orange bottle using the left arm, then shake.", + "Shake the yellow label bottle after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Grab the cylindrical orange and white bottle and shake it steadily.", + "Grip the plastic bottle using the left arm and shake.", + "Shake the yellow label bottle after holding it firmly.", + "Hold the medium orange bottle and shake it properly.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Pick the bottle with ribbed orange bottom, shake it with the left arm.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Use the left arm to pick and shake the plastic bottle.", + "Secure the orange and white bottle with cap and perform a shake.", + "Take the yellow label bottle using the left arm and give it a shake.", + "Pick the plastic bottle and perform shaking motion.", + "Pick the white and orange plastic bottle up with the left arm and shake.", + "Shake the drinking bottle with yellow label using the left arm after grabbing.", + "Shake the medium orange bottle thoroughly after grabbing it.", + "Shake the orange and white bottle with cap after lifting it.", + "Grab the orange bottle carefully and shake.", + "Using the left arm, shake the orange and white bottle with cap and then place it back.", + "Utilize the left arm to hold the yellow label bottle and shake it.", + "Lift the bottle with orange cap with the left arm and shake.", + "Lift the medium bottle with orange lid with the left arm and give it a shake.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Catch the orange bottle and shake it instantly.", + "Grasp the bottle with ribbed orange bottom with the left arm and shake it.", + "Lift the orange bottle and shake it gently.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Shake the the bottle with orange cap properly after lifting.", + "Grab the white and orange plastic bottle with the left arm and shake.", + "Grab the orange and white bottle with cap and give it a shake.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Use the left arm to grab the drinking bottle with yellow label and shake it.", + "Hold the yellow label bottle steady, then shake it.", + "Shake the medium orange bottle firmly after grabbing.", + "Pick the medium bottle with orange lid up using the left arm and shake it.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Grab the bottle with orange cap using the left arm, then shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the medium bottle with orange lid with the left arm and shake it.", + "Pick up the orange bottle and shake it well.", + "Grab and shake the orange bottle using the left arm.", + "Use the left arm to lift and shake the orange bottle.", + "Hold and shake the the plastic bottle carefully.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift up the medium bottle with orange lid using the left arm, then shake.", + "Shake the medium orange bottle after grabbing it.", + "Use the left arm to hold the medium orange bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the medium orange bottle and shake it steadily.", + "Grip the bottle with orange cap using the left arm and shake.", + "Shake the yellow label bottle after holding it firmly.", + "Hold the smooth plastic bottle and shake it properly.", + "Grab the yellow label bottle and move it to shake.", + "Pick the bottle with ribbed orange bottom, shake it with the left arm.", + "Shake the white and orange plastic bottle after grabbing it.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Secure the drinking bottle with yellow label and perform a shake.", + "Take the white and orange plastic bottle using the left arm and give it a shake.", + "Pick the drinking bottle with yellow label and perform shaking motion.", + "Pick the medium orange bottle up with the left arm and shake.", + "Shake the medium bottle with orange lid using the left arm after grabbing.", + "Shake the yellow label bottle thoroughly after grabbing it.", + "Shake the medium bottle with orange lid after lifting it.", + "Grab the bottle with ribbed orange bottom carefully and shake.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Utilize the left arm to hold the cylindrical orange and white bottle and shake it.", + "Lift the white and orange plastic bottle with the left arm and shake.", + "Lift the cylindrical orange and white bottle with the left arm and give it a shake.", + "Use the left arm to grab the bottle with orange cap and shake properly.", + "Catch the bottle with orange cap and shake it instantly.", + "Grasp the medium orange bottle with the left arm and shake it.", + "Lift the yellow label bottle and shake it gently.", + "Secure the bottle with orange cap, shake it, and place it down.", + "With the left arm, pick the plastic bottle and shake properly.", + "Hold the bottle with orange cap, shake it briefly.", + "Shake the the smooth plastic bottle properly after lifting.", + "Grab the orange and white bottle with cap with the left arm and shake.", + "Grab the orange bottle and give it a shake.", + "Shake the bottle with orange cap after grabbing it.", + "Use the left arm to grab the smooth plastic bottle and shake it.", + "Hold the orange and white bottle with cap steady, then shake it.", + "Shake the orange and white bottle with cap firmly after grabbing.", + "Pick the orange and white bottle with cap up using the left arm and shake it.", + "Hold the orange bottle with the left arm and shake lightly." + ], + "unseen": [ + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode229.json b/shake_bottle/ur5_randomized_500/instructions/episode229.json new file mode 100644 index 0000000000000000000000000000000000000000..3cd42f8a6b02152ba40e51e0557640afd4ee7f45 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode229.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Lift up the medium bottle with colorful label using the left arm, then shake.", + "Grab the orange bottle and shake it steadily.", + "Shake the ridged orange bottle with grooves using the left arm after grabbing.", + "Shake the bottle for holding drinks after grabbing it.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Lift the curved orange soda bottle with the left arm and shake it.", + "Secure the orange bottle, shake it, and place it down.", + "Use the left arm to grab the medium bottle with colorful label and shake it.", + "Take the smooth orange bottle using the left arm and give it a shake.", + "Hold the grooved orange drink bottle and shake it properly.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grasp the round-bottom bottle with white cap with the left arm and shake it.", + "Pick up the grooved orange drink bottle and shake it.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Pick the light and medium-sized bottle up with the left arm and shake.", + "Using the left arm, shake the smooth orange bottle and then place it back.", + "Grab the orange bottle using the left arm, then shake.", + "Hold and shake the the medium bottle with colorful label carefully.", + "Shake the ridged orange bottle with grooves after holding it firmly.", + "Lift the bottle for holding drinks with the left arm and give it a shake.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Grab the curved orange soda bottle carefully and shake.", + "Shake the medium bottle with colorful label firmly after grabbing.", + "Pick up the orange bottle and shake it well.", + "Use the left arm to lift and shake the plastic bottle.", + "Secure the round-bottom bottle with white cap and perform a shake.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Use the left arm to grab the orange drink bottle with label and shake properly.", + "Hold the light and medium-sized bottle steady, then shake it.", + "Hold the round-bottom bottle with white cap with the left arm and shake lightly.", + "Grab the smooth orange bottle and move it to shake.", + "Use the left arm to hold the round-bottom bottle with white cap and shake it.", + "Grab and shake the curved orange soda bottle using the left arm.", + "Lift the bottle for holding drinks with the left arm and shake.", + "Grip the bottle for holding drinks using the left arm and shake.", + "Pick the orange drink bottle with label up using the left arm and shake it.", + "Hold the bottle for holding drinks, shake it briefly.", + "Use the left arm to pick and shake the medium bottle with colorful label.", + "Shake the medium bottle with colorful label thoroughly after grabbing it.", + "Shake the smooth orange bottle after lifting it.", + "Pick the round-bottom bottle with white cap, shake it with the left arm.", + "Lift the ridged orange bottle with grooves and shake it thoroughly.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.", + "Lift the plastic bottle and shake it gently.", + "Grab the orange drink bottle with label with the left arm and shake.", + "Grab the curved orange soda bottle and give it a shake.", + "Pick the orange drink bottle with label and perform shaking motion.", + "Shake the bottle for holding drinks after grabbing it.", + "Lift up the orange bottle using the left arm, then shake.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the smooth orange bottle after grabbing it.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Lift the orange bottle with the left arm and shake it.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Use the left arm to grab the ridged orange bottle with grooves and shake it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold the plastic bottle and shake it properly.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grasp the orange drink bottle with label with the left arm and shake it.", + "Pick up the medium bottle with colorful label and shake it.", + "Shake the the bottle for holding drinks properly after lifting.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Pick the bottle for holding drinks up with the left arm and shake.", + "Using the left arm, shake the orange bottle and then place it back.", + "Grab the grooved orange drink bottle using the left arm, then shake.", + "Hold and shake the the bottle for holding drinks carefully.", + "Shake the curved orange soda bottle after holding it firmly.", + "Lift the grooved orange drink bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Grab the smooth orange bottle carefully and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Pick up the smooth orange bottle and shake it well.", + "Use the left arm to lift and shake the plastic bottle.", + "Secure the bottle for holding drinks and perform a shake.", + "With the left arm, pick the smooth orange bottle and shake properly.", + "Use the left arm to grab the grooved orange drink bottle and shake properly.", + "Hold the plastic bottle steady, then shake it.", + "Hold the orange drink bottle with label with the left arm and shake lightly.", + "Grab the grooved orange drink bottle and move it to shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grab and shake the cylindrical orange plastic bottle using the left arm.", + "Lift the cylindrical orange plastic bottle with the left arm and shake.", + "Grip the orange drink bottle with label using the left arm and shake.", + "Pick the round-bottom bottle with white cap up using the left arm and shake it.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Use the left arm to pick and shake the bottle for holding drinks.", + "Shake the orange bottle thoroughly after grabbing it.", + "Shake the medium bottle with colorful label after lifting it.", + "Pick the light and medium-sized bottle, shake it with the left arm.", + "Lift the cylindrical orange plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Lift the curved orange soda bottle and shake it gently.", + "Grab the grooved orange drink bottle with the left arm and shake.", + "Grab the curved orange soda bottle and give it a shake.", + "Pick the round-bottom bottle with white cap and perform shaking motion." + ], + "unseen": [ + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode23.json b/shake_bottle/ur5_randomized_500/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..3d3c91988ebc5bea97739d90c6ca51912ae06bfd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the curved orange soda bottle using the right arm, then shake.", + "Pick the orange drink bottle with label and perform shaking motion.", + "Use the right arm to pick and shake the medium bottle with colorful label.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Use the right arm to grab the ridged orange bottle with grooves and shake properly.", + "Shake the ridged orange bottle with grooves after lifting it.", + "Using the right arm, shake the ridged orange bottle with grooves and then place it back.", + "Shake the the orange bottle properly after lifting.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the medium bottle with colorful label and shake it properly.", + "Secure the smooth orange bottle and perform a shake.", + "With the right arm, pick the ridged orange bottle with grooves and shake properly.", + "Shake the medium bottle with colorful label after holding it firmly.", + "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Grab the orange bottle carefully and shake.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Use the right arm to lift and shake the light and medium-sized bottle.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.", + "Shake the orange bottle using the right arm after grabbing.", + "Pick up the smooth orange bottle and shake it.", + "Grab the light and medium-sized bottle and move it to shake.", + "Lift up the orange bottle using the right arm, then shake.", + "Hold the medium bottle with colorful label, shake it briefly.", + "Grip the bottle for holding drinks using the right arm and shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Hold the round-bottom bottle with white cap with the right arm and shake lightly.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Lift the light and medium-sized bottle and shake it gently.", + "Pick the round-bottom bottle with white cap, shake it with the right arm.", + "Use the right arm to hold the ridged orange bottle with grooves and shake it.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Pick the curved orange soda bottle up using the right arm and shake it.", + "Grab the light and medium-sized bottle and give it a shake.", + "Shake the orange bottle after grabbing it.", + "Hold and shake the the plastic bottle carefully.", + "Use the right arm to grab the medium bottle with colorful label and shake it.", + "Take the bottle for holding drinks using the right arm and give it a shake.", + "Lift the round-bottom bottle with white cap with the right arm and shake.", + "Pick the grooved orange drink bottle up with the right arm and shake.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Shake the orange bottle after grabbing it.", + "Grab and shake the smooth orange bottle using the right arm.", + "Grab the medium bottle with colorful label with the right arm and shake.", + "Pick up the light and medium-sized bottle and shake it well.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Lift the curved orange soda bottle with the right arm and shake it.", + "Shake the curved orange soda bottle firmly after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Grab the round-bottom bottle with white cap using the right arm, then shake.", + "Pick the ridged orange bottle with grooves and perform shaking motion.", + "Use the right arm to pick and shake the cylindrical orange plastic bottle.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Use the right arm to grab the bottle for holding drinks and shake properly.", + "Shake the light and medium-sized bottle after lifting it.", + "Using the right arm, shake the smooth orange bottle and then place it back.", + "Shake the the light and medium-sized bottle properly after lifting.", + "Lift the smooth orange bottle and shake it thoroughly.", + "Hold the smooth orange bottle and shake it properly.", + "Secure the plastic bottle and perform a shake.", + "With the right arm, pick the curved orange soda bottle and shake properly.", + "Shake the bottle for holding drinks after holding it firmly.", + "Utilize the right arm to hold the orange drink bottle with label and shake it.", + "Grab the orange drink bottle with label carefully and shake.", + "Catch the smooth orange bottle and shake it instantly.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Hold the light and medium-sized bottle steady, then shake it.", + "Lift the orange drink bottle with label with the right arm and give it a shake.", + "Shake the grooved orange drink bottle using the right arm after grabbing.", + "Pick up the smooth orange bottle and shake it.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Lift up the bottle for holding drinks using the right arm, then shake.", + "Hold the bottle for holding drinks, shake it briefly.", + "Grip the orange drink bottle with label using the right arm and shake.", + "Grasp the light and medium-sized bottle with the right arm and shake it.", + "Hold the curved orange soda bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the curved orange soda bottle.", + "Lift the orange drink bottle with label and shake it gently.", + "Pick the curved orange soda bottle, shake it with the right arm.", + "Use the right arm to hold the orange bottle and shake it.", + "Grab the curved orange soda bottle and shake it steadily.", + "Pick the grooved orange drink bottle up using the right arm and shake it.", + "Grab the cylindrical orange plastic bottle and give it a shake.", + "Shake the orange bottle after grabbing it.", + "Hold and shake the the orange bottle carefully.", + "Use the right arm to grab the light and medium-sized bottle and shake it.", + "Take the light and medium-sized bottle using the right arm and give it a shake.", + "Lift the medium bottle with colorful label with the right arm and shake.", + "Pick the smooth orange bottle up with the right arm and shake.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.", + "Shake the orange bottle after grabbing it.", + "Grab and shake the light and medium-sized bottle using the right arm.", + "Grab the medium bottle with colorful label with the right arm and shake.", + "Pick up the medium bottle with colorful label and shake it well.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Lift the ridged orange bottle with grooves with the right arm and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the medium bottle with colorful label after grabbing it." + ], + "unseen": [ + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with white cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode230.json b/shake_bottle/ur5_randomized_500/instructions/episode230.json new file mode 100644 index 0000000000000000000000000000000000000000..77c5cfe3bbe84b17364d51a26fe49c6782dac541 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode230.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Pick up the bottle for liquids and shake it well.", + "Lift the yellow-capped plastic bottle with the right arm and shake.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Hold the bottle with narrow neck steady, then shake it.", + "Hold and shake the the bottle with narrow neck carefully.", + "Hold the bottle with printed label with the right arm and shake lightly.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Grab the bottle with printed label with the right arm and shake.", + "Shake the orange bottle thoroughly after grabbing it.", + "Grasp the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Grab the orange bottle and move it to shake.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Lift the bottle with yellow cap with the right arm and give it a shake.", + "Shake the smooth plastic bottle after lifting it.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Pick the orange bottle and perform shaking motion.", + "Shake the bottle for liquids after holding it firmly.", + "Use the right arm to grab the medium-sized orange bottle and shake it.", + "Grab and shake the bottle with narrow neck using the right arm.", + "Lift the orange bottle and shake it gently.", + "Hold the medium-sized orange bottle and shake it properly.", + "Pick the bottle with narrow neck, shake it with the right arm.", + "Catch the plastic bottle with sealed yellow cap and shake it instantly.", + "Utilize the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Grab the bottle with printed label firmly, shake it, and put it down.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Lift the orange cylindrical bottle with the right arm and shake it.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Using the right arm, shake the plastic bottle with sealed yellow cap and then place it back.", + "Use the right arm to lift and shake the orange bottle.", + "Pick the orange bottle up with the right arm and shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Shake the medium-sized orange bottle using the right arm after grabbing.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Grab the plastic bottle carefully and shake.", + "Hold the plastic bottle, shake it briefly.", + "Grab the yellow-capped plastic bottle using the right arm, then shake.", + "Shake the bottle with printed label after grabbing it.", + "Pick up the bottle with narrow neck and shake it.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Grab the orange bottle and give it a shake.", + "Lift the bottle for liquids and shake it thoroughly.", + "Grip the cylindrical orange bottle with yellow top using the right arm and shake.", + "Take the bottle with yellow cap using the right arm and give it a shake.", + "Use the right arm to grab the plastic bottle with sealed yellow cap and shake properly.", + "Pick up the orange cylindrical bottle and shake it well.", + "Lift the orange cylindrical bottle with the right arm and shake.", + "Lift up the bottle with yellow cap using the right arm, then shake.", + "Shake the medium-sized orange bottle after grabbing it.", + "Pick the bottle with narrow neck up using the right arm and shake it.", + "Hold the cylindrical orange bottle with yellow top steady, then shake it.", + "Hold and shake the the plastic bottle carefully.", + "Hold the bottle with printed label with the right arm and shake lightly.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Grab the bottle with printed label with the right arm and shake.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Grasp the bottle with yellow cap with the right arm and shake it.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Grab the plastic bottle and move it to shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Secure the bottle with narrow neck and perform a shake.", + "Pick the plastic bottle with sealed yellow cap and perform shaking motion.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to grab the yellow-capped plastic bottle and shake it.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Lift the orange cylindrical bottle and shake it gently.", + "Hold the plastic bottle with sealed yellow cap and shake it properly.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Catch the bottle with printed label and shake it instantly.", + "Utilize the right arm to hold the bottle with printed label and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "With the right arm, pick the bottle with narrow neck and shake properly.", + "Lift the bottle for liquids with the right arm and shake it.", + "Grab the orange bottle and shake it steadily.", + "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Use the right arm to lift and shake the orange bottle.", + "Pick the plastic bottle up with the right arm and shake.", + "Secure the bottle with printed label, shake it, and place it down.", + "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.", + "Use the right arm to hold the bottle with printed label and shake it.", + "Grab the orange cylindrical bottle carefully and shake.", + "Hold the bottle with printed label, shake it briefly.", + "Grab the bottle for liquids using the right arm, then shake.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Pick up the yellow-capped plastic bottle and shake it.", + "Use the right arm to pick and shake the bottle with yellow cap.", + "Grab the plastic bottle and give it a shake.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Grip the plastic bottle with sealed yellow cap using the right arm and shake.", + "Take the plastic bottle with sealed yellow cap using the right arm and give it a shake." + ], + "unseen": [ + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Use the right arm to pick the label-covered orange bottle.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to pick the label-covered orange bottle.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the label-covered orange bottle.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Use the right arm to pick the label-covered orange bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode231.json b/shake_bottle/ur5_randomized_500/instructions/episode231.json new file mode 100644 index 0000000000000000000000000000000000000000..4777e540db71beee5c2307564cb6523306162df9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode231.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the black cylindrical bottle with ridges using the right arm after grabbing.", + "Lift the black plastic bottle with Pepsi logo and shake it gently.", + "Secure the beverage bottle with black body and perform a shake.", + "Pick up the medium bottle with yellow cap and shake it well.", + "Pick up the yellow-capped cylindrical bottle and shake it.", + "Grab the smooth black bottle with ridges with the right arm and shake.", + "Hold the yellow capped drink bottle and shake it properly.", + "Use the right arm to grab the medium black bottle with printed label and shake it.", + "Use the right arm to hold the medium bottle with yellow cap and shake it.", + "Pick the plastic bottle with colorful label and perform shaking motion.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Secure the beverage bottle with black body, shake it, and place it down.", + "Use the right arm to lift and shake the medium black bottle with printed label.", + "Grab the beverage bottle with black body carefully and shake.", + "Use the right arm to lift and shake the medium bottle with yellow cap.", + "Grab the medium bottle with yellow cap using the right arm, then shake.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Grab the plastic bottle with colorful label and move it to shake.", + "Shake the beverage bottle with black body after holding it firmly.", + "Pick the yellow-capped cylindrical bottle up with the right arm and shake.", + "Lift up the black cylindrical bottle with ridges using the right arm, then shake.", + "Take the smooth black bottle with ridges using the right arm and give it a shake.", + "With the right arm, pick the black cylindrical bottle with ridges and shake properly.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Grip the beverage bottle with black body using the right arm and shake.", + "Shake the black bottle after lifting it.", + "Use the right arm to pick and shake the beverage bottle with black body.", + "Use the right arm to grab the bottle with blue and yellow print and shake properly.", + "Lift the smooth black bottle with ridges with the right arm and give it a shake.", + "Catch the smooth black bottle with ridges and shake it instantly.", + "Shake the the beverage bottle with black body properly after lifting.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Pick the beverage bottle with black body up using the right arm and shake it.", + "Grasp the yellow-capped cylindrical bottle with the right arm and shake it.", + "Using the right arm, shake the black plastic bottle with Pepsi logo and then place it back.", + "Lift the drink bottle with rounded yellow lid with the right arm and shake.", + "Hold the medium black bottle with printed label with the right arm and shake lightly.", + "Hold the drink bottle with rounded yellow lid steady, then shake it.", + "Hold and shake the the medium bottle with yellow cap carefully.", + "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Grab the black bottle and give it a shake.", + "Pick the beverage bottle with black body, shake it with the right arm.", + "Lift the yellow capped drink bottle with the right arm and shake it.", + "Utilize the right arm to hold the drink bottle with rounded yellow lid and shake it.", + "Lift the medium black bottle with printed label and shake it thoroughly.", + "Grab and shake the black cylindrical bottle with ridges using the right arm.", + "Shake the smooth black bottle with ridges using the right arm after grabbing.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Secure the drink bottle with rounded yellow lid and perform a shake.", + "Pick up the beverage bottle with black body and shake it well.", + "Pick up the medium bottle with yellow cap and shake it.", + "Grab the smooth black bottle with ridges with the right arm and shake.", + "Hold the beverage bottle with black body and shake it properly.", + "Use the right arm to grab the medium black bottle with printed label and shake it.", + "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.", + "Pick the black bottle and perform shaking motion.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.", + "Use the right arm to lift and shake the plastic bottle with colorful label.", + "Grab the black bottle carefully and shake.", + "Use the right arm to lift and shake the plastic bottle with colorful label.", + "Grab the drink bottle with rounded yellow lid using the right arm, then shake.", + "Grab the yellow capped drink bottle firmly, shake it, and put it down.", + "Shake the medium black bottle with printed label after grabbing it.", + "Shake the medium black bottle with printed label after grabbing it.", + "Grab the drink bottle with rounded yellow lid and move it to shake.", + "Shake the plastic bottle with colorful label after holding it firmly.", + "Pick the yellow-capped cylindrical bottle up with the right arm and shake.", + "Lift up the black bottle using the right arm, then shake.", + "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.", + "With the right arm, pick the black cylindrical bottle with ridges and shake properly.", + "Shake the yellow-capped cylindrical bottle firmly after grabbing.", + "Grip the beverage bottle with black body using the right arm and shake.", + "Shake the bottle with blue and yellow print after lifting it.", + "Use the right arm to pick and shake the plastic bottle with colorful label.", + "Use the right arm to grab the yellow capped drink bottle and shake properly.", + "Lift the drink bottle with rounded yellow lid with the right arm and give it a shake.", + "Catch the black cylindrical bottle with ridges and shake it instantly.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Use the right arm to lift and shake the plastic bottle with colorful label.", + "Pick the bottle with blue and yellow print up using the right arm and shake it.", + "Grasp the bottle with blue and yellow print with the right arm and shake it.", + "Using the right arm, shake the black cylindrical bottle with ridges and then place it back.", + "Lift the black bottle with the right arm and shake.", + "Hold the smooth black bottle with ridges with the right arm and shake lightly.", + "Hold the black cylindrical bottle with ridges steady, then shake it.", + "Hold and shake the the black cylindrical bottle with ridges carefully.", + "Shake the smooth black bottle with ridges thoroughly after grabbing it.", + "Hold the black cylindrical bottle with ridges, shake it briefly.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Pick the black bottle, shake it with the right arm.", + "Lift the yellow capped drink bottle with the right arm and shake it.", + "Utilize the right arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Lift the medium bottle with yellow cap and shake it thoroughly.", + "Grab and shake the drink bottle with rounded yellow lid using the right arm." + ], + "unseen": [ + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode232.json b/shake_bottle/ur5_randomized_500/instructions/episode232.json new file mode 100644 index 0000000000000000000000000000000000000000..2f6c8105facebe5a8a69ac29d2aa744ced66fce7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode232.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the plastic bottle with bright red color using the right arm and give it a shake.", + "Lift the red bottle with narrow neck with the right arm and give it a shake.", + "Use the right arm to lift and shake the red bottle with white bottom text.", + "Secure the smooth red cylindrical bottle and perform a shake.", + "Pick the red bottle with white bottom text up using the right arm and shake it.", + "Grab the red bottle with curved grooves firmly, shake it, and put it down.", + "Shake the handheld plastic bottle thoroughly after grabbing it.", + "Hold the yellow text bottle steady, then shake it.", + "Pick up the bottle with red cap and shake it.", + "Lift the smooth red cylindrical bottle with the right arm and shake it.", + "Grab the red bottle and shake it steadily.", + "Pick the red bottle with curved grooves up with the right arm and shake.", + "Catch the red bottle with narrow neck and shake it instantly.", + "Shake the red bottle with curved grooves after holding it firmly.", + "Grab the handheld plastic bottle using the right arm, then shake.", + "Shake the red bottle with white bottom text after grabbing it.", + "Lift the red bottle with narrow neck and shake it gently.", + "Using the right arm, shake the red bottle with screw cap and then place it back.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Pick up the red bottle with curved grooves and shake it well.", + "Shake the red bottle with narrow neck using the right arm after grabbing.", + "Pick the handheld plastic bottle and perform shaking motion.", + "Secure the red bottle with curved grooves, shake it, and place it down.", + "Grab the yellow text bottle and give it a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Grab and shake the plastic bottle using the right arm.", + "Grab the red bottle with white bottom text with the right arm and shake.", + "Grab the red bottle with narrow neck carefully and shake.", + "Shake the medium-size plastic bottle after grabbing it.", + "Use the right arm to grab the yellow text bottle and shake properly.", + "Use the right arm to lift and shake the red bottle with curved grooves.", + "Grab the red bottle with white bottom text and move it to shake.", + "Pick the handheld plastic bottle, shake it with the right arm.", + "Use the right arm to hold the red bottle with white bottom text and shake it.", + "Shake the bottle with red cap firmly after grabbing.", + "Lift the yellow text bottle with the right arm and shake.", + "Grasp the plastic bottle with bright red color with the right arm and shake it.", + "Lift the bottle with red cap and shake it thoroughly.", + "Shake the handheld plastic bottle after lifting it.", + "Hold and shake the the plastic bottle with bright red color carefully.", + "Hold the red bottle with narrow neck, shake it briefly.", + "Lift up the red bottle with narrow neck using the right arm, then shake.", + "With the right arm, pick the red bottle with narrow neck and shake properly.", + "Hold the smooth red cylindrical bottle and shake it properly.", + "Use the right arm to grab the red bottle with curved grooves and shake it.", + "Utilize the right arm to hold the red bottle with narrow neck and shake it.", + "Shake the the handheld plastic bottle properly after lifting.", + "Use the right arm to pick and shake the smooth red cylindrical bottle.", + "Shake the red bottle with white bottom text after grabbing it.", + "Use the right arm to lift and shake the plastic bottle with bright red color.", + "Take the smooth red cylindrical bottle using the right arm and give it a shake.", + "Lift the smooth red cylindrical bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the handheld plastic bottle.", + "Secure the plastic bottle and perform a shake.", + "Pick the red bottle with curved grooves up using the right arm and shake it.", + "Grab the red bottle with curved grooves firmly, shake it, and put it down.", + "Shake the smooth red cylindrical bottle thoroughly after grabbing it.", + "Hold the red bottle with narrow neck steady, then shake it.", + "Pick up the yellow text bottle and shake it.", + "Lift the smooth red cylindrical bottle with the right arm and shake it.", + "Grab the red bottle with white bottom text and shake it steadily.", + "Pick the red bottle with screw cap up with the right arm and shake.", + "Catch the medium-size plastic bottle and shake it instantly.", + "Shake the red bottle with white bottom text after holding it firmly.", + "Grab the plastic bottle using the right arm, then shake.", + "Shake the yellow text bottle after grabbing it.", + "Lift the plastic bottle with bright red color and shake it gently.", + "Using the right arm, shake the red bottle with white bottom text and then place it back.", + "Hold the red bottle with narrow neck with the right arm and shake lightly.", + "Pick up the smooth red cylindrical bottle and shake it well.", + "Shake the red bottle with white bottom text using the right arm after grabbing.", + "Pick the plastic bottle and perform shaking motion.", + "Secure the red bottle, shake it, and place it down.", + "Grab the red bottle with screw cap and give it a shake.", + "Grip the smooth red cylindrical bottle using the right arm and shake.", + "Grab and shake the red bottle with narrow neck using the right arm.", + "Grab the medium-size plastic bottle with the right arm and shake.", + "Grab the bottle with red cap carefully and shake.", + "Shake the bottle with red cap after grabbing it.", + "Use the right arm to grab the smooth red cylindrical bottle and shake properly.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the plastic bottle with bright red color and move it to shake.", + "Pick the red bottle with white bottom text, shake it with the right arm.", + "Use the right arm to hold the red bottle with white bottom text and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the plastic bottle with the right arm and shake.", + "Grasp the red bottle with narrow neck with the right arm and shake it.", + "Lift the red bottle with curved grooves and shake it thoroughly.", + "Shake the red bottle with curved grooves after lifting it.", + "Hold and shake the the red bottle carefully.", + "Hold the medium-size plastic bottle, shake it briefly.", + "Lift up the plastic bottle using the right arm, then shake.", + "With the right arm, pick the smooth red cylindrical bottle and shake properly.", + "Hold the red bottle with narrow neck and shake it properly.", + "Use the right arm to grab the red bottle and shake it.", + "Utilize the right arm to hold the red bottle with curved grooves and shake it.", + "Shake the the red bottle with white bottom text properly after lifting.", + "Use the right arm to pick and shake the red bottle with screw cap.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the red bottle with white bottom text." + ], + "unseen": [ + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the shiny red bottle and shake it.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick up the shiny red bottle and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the shiny red bottle with the right arm and shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with white and yellow label and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the shiny red bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the shiny red bottle and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Pick up the shiny red bottle and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the shiny red bottle and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with white and yellow label and shake it.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Pick up the shiny red bottle and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the shiny red bottle and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode233.json b/shake_bottle/ur5_randomized_500/instructions/episode233.json new file mode 100644 index 0000000000000000000000000000000000000000..1853cce5ced2d8c62380d18f44b827c665c7c599 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode233.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the cylindrical orange and white bottle and shake it well.", + "Grab the medium bottle with orange lid using the left arm, then shake.", + "Pick the plastic bottle and perform shaking motion.", + "With the left arm, pick the cylindrical orange and white bottle and shake properly.", + "Lift the plastic bottle with the left arm and shake.", + "Shake the medium orange bottle using the left arm after grabbing.", + "Grab the smooth plastic bottle and move it to shake.", + "Grab the medium orange bottle carefully and shake.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Use the left arm to lift and shake the yellow label bottle.", + "Use the left arm to grab the bottle with orange cap and shake properly.", + "Hold the bottle with ribbed orange bottom with the left arm and shake lightly.", + "Using the left arm, shake the bottle with ribbed orange bottom and then place it back.", + "Pick the orange and white bottle with cap up using the left arm and shake it.", + "Shake the bottle with orange cap after grabbing it.", + "Grab the drinking bottle with yellow label and shake it steadily.", + "Pick the orange and white bottle with cap up with the left arm and shake.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Shake the white and orange plastic bottle after grabbing it.", + "Use the left arm to lift and shake the orange bottle.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the bottle with ribbed orange bottom after holding it firmly.", + "Grab the bottle with orange cap firmly, shake it, and put it down.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "Pick up the orange and white bottle with cap and shake it.", + "Lift the medium orange bottle with the left arm and shake it.", + "Hold and shake the the yellow label bottle carefully.", + "Shake the the bottle with orange cap properly after lifting.", + "Take the medium orange bottle using the left arm and give it a shake.", + "Hold the white and orange plastic bottle, shake it briefly.", + "Lift the medium orange bottle with the left arm and give it a shake.", + "Shake the medium orange bottle after lifting it.", + "Lift the smooth plastic bottle and shake it gently.", + "Grab the yellow label bottle and give it a shake.", + "Shake the white and orange plastic bottle after grabbing it.", + "Secure the yellow label bottle, shake it, and place it down.", + "Use the left arm to pick and shake the orange and white bottle with cap.", + "Grasp the yellow label bottle with the left arm and shake it.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Grip the white and orange plastic bottle using the left arm and shake.", + "Grab and shake the medium orange bottle using the left arm.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Secure the yellow label bottle and perform a shake.", + "Use the left arm to grab the yellow label bottle and shake it.", + "Hold the medium orange bottle steady, then shake it.", + "Hold the yellow label bottle and shake it properly.", + "Grab the drinking bottle with yellow label with the left arm and shake.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Pick up the drinking bottle with yellow label and shake it well.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "With the left arm, pick the medium orange bottle and shake properly.", + "Lift the orange and white bottle with cap with the left arm and shake.", + "Shake the cylindrical orange and white bottle using the left arm after grabbing.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Grab the medium orange bottle carefully and shake.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Hold the white and orange plastic bottle with the left arm and shake lightly.", + "Using the left arm, shake the white and orange plastic bottle and then place it back.", + "Pick the bottle with orange cap up using the left arm and shake it.", + "Shake the white and orange plastic bottle after grabbing it.", + "Grab the orange and white bottle with cap and shake it steadily.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Use the left arm to hold the white and orange plastic bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to lift and shake the orange bottle.", + "Shake the bottle with orange cap firmly after grabbing.", + "Shake the plastic bottle after holding it firmly.", + "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.", + "Pick the medium bottle with orange lid, shake it with the left arm.", + "Use the left arm to lift and shake the yellow label bottle.", + "Pick up the bottle with orange cap and shake it.", + "Lift the orange bottle with the left arm and shake it.", + "Hold and shake the the medium bottle with orange lid carefully.", + "Shake the the medium bottle with orange lid properly after lifting.", + "Take the medium bottle with orange lid using the left arm and give it a shake.", + "Hold the bottle with ribbed orange bottom, shake it briefly.", + "Lift the orange bottle with the left arm and give it a shake.", + "Shake the medium orange bottle after lifting it.", + "Lift the white and orange plastic bottle and shake it gently.", + "Grab the medium orange bottle and give it a shake.", + "Shake the orange bottle after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the left arm to pick and shake the bottle with ribbed orange bottom.", + "Grasp the drinking bottle with yellow label with the left arm and shake it.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grip the medium orange bottle using the left arm and shake.", + "Grab and shake the orange and white bottle with cap using the left arm.", + "Lift the cylindrical orange and white bottle and shake it thoroughly.", + "Shake the yellow label bottle thoroughly after grabbing it.", + "Secure the orange bottle and perform a shake.", + "Use the left arm to grab the medium bottle with orange lid and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Hold the medium bottle with orange lid and shake it properly.", + "Grab the medium orange bottle with the left arm and shake.", + "Lift up the yellow label bottle using the left arm, then shake." + ], + "unseen": [ + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Shake the curvy orange bottle with white section after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode234.json b/shake_bottle/ur5_randomized_500/instructions/episode234.json new file mode 100644 index 0000000000000000000000000000000000000000..42521a2ac678afa4f21c4dbd58f2fb0d79302b4d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode234.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the right arm to hold the bottle with green label and shake it.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Pick up the bottle with a smooth plastic body and shake it well.", + "Grab the bottle with green label using the right arm, then shake.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Pick the bottle with a smooth plastic body up using the right arm and shake it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Grab the bottle with white cap with the right arm and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift up the bottle with green label using the right arm, then shake.", + "Pick the smooth bottle with rounded edges and perform shaking motion.", + "Lift the yellow bottle with a green design with the right arm and shake.", + "Use the right arm to hold the plastic bottle and shake it.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Use the right arm to grab the bottle with a smooth plastic body and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Lift the yellow container with rounded edges with the right arm and give it a shake.", + "Shake the plastic bottle after holding it firmly.", + "Grab the bottle with green and white labels firmly, shake it, and put it down.", + "Grab the yellow bottle with a green design and move it to shake.", + "Lift the yellow container with rounded edges and shake it gently.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Lift the bottle with white cap with the right arm and shake it.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Hold the yellow plastic bottle with white top and shake it properly.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Shake the yellow plastic bottle with white top using the right arm after grabbing.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "With the right arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Shake the yellow container with rounded edges after grabbing it.", + "Hold and shake the the bottle with white cap carefully.", + "Shake the bottle with white cap after lifting it.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Use the right arm to pick and shake the yellow bottle with a green design.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Pick the yellow plastic bottle with white top up with the right arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Take the smooth bottle with rounded edges using the right arm and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Grab and shake the bottle with green and white labels using the right arm.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Grasp the bottle with green and white labels with the right arm and shake it.", + "Pick the rectangular bottle with cylindrical neck, shake it with the right arm.", + "Grip the bottle with green and white labels using the right arm and shake.", + "Utilize the right arm to hold the yellow bottle with a green design and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick up the plastic bottle and shake it well.", + "Grab the yellow container with rounded edges using the right arm, then shake.", + "Catch the plastic bottle and shake it instantly.", + "Pick the bottle with white cap up using the right arm and shake it.", + "Hold the yellow bottle with a green design with the right arm and shake lightly.", + "Grab the bottle with green and white labels with the right arm and shake.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Pick the bottle with green label and perform shaking motion.", + "Lift the yellow plastic bottle with white top with the right arm and shake.", + "Use the right arm to hold the yellow container with rounded edges and shake it.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Use the right arm to grab the yellow bottle with a green design and shake it.", + "Shake the bottle with green label after grabbing it.", + "Lift the smooth bottle with rounded edges with the right arm and give it a shake.", + "Shake the yellow bottle after holding it firmly.", + "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Lift the smooth bottle with rounded edges and shake it gently.", + "Hold the yellow container with rounded edges steady, then shake it.", + "Lift the bottle with green label with the right arm and shake it.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Secure the bottle with a smooth plastic body and perform a shake.", + "Hold the yellow plastic bottle with white top and shake it properly.", + "Grab the bottle with green label and give it a shake.", + "Using the right arm, shake the bottle with green and white labels and then place it back.", + "Hold the plastic bottle, shake it briefly.", + "Shake the the smooth bottle with rounded edges properly after lifting.", + "Shake the bottle with a smooth plastic body using the right arm after grabbing.", + "Lift the bottle with green and white labels and shake it thoroughly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Use the right arm to pick and shake the bottle with a smooth plastic body.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Pick the yellow container with rounded edges up with the right arm and shake.", + "Grab the smooth bottle with rounded edges carefully and shake.", + "Take the rectangular bottle with cylindrical neck using the right arm and give it a shake.", + "Pick up the plastic bottle and shake it.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Grab and shake the yellow bottle with a green design using the right arm.", + "Grab the bottle with green and white labels and shake it steadily.", + "Use the right arm to lift and shake the bottle with green label.", + "Grasp the plastic bottle with the right arm and shake it.", + "Pick the yellow bottle, shake it with the right arm.", + "Grip the yellow bottle using the right arm and shake." + ], + "unseen": [ + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode235.json b/shake_bottle/ur5_randomized_500/instructions/episode235.json new file mode 100644 index 0000000000000000000000000000000000000000..3b765fd3d718ae557207f16ba7114ab5ca8ab44f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode235.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the handheld bottle after grabbing it.", + "Shake the blue bottle firmly after grabbing.", + "Grasp the medium bottle for beverages with the right arm and shake it.", + "Take the handheld bottle using the right arm and give it a shake.", + "Secure the cylindrical bottle and perform a shake.", + "Grab the white bottle with blue accents and give it a shake.", + "Shake the medium bottle for beverages after grabbing it.", + "Lift the blue bottle and shake it thoroughly.", + "Hold the bottle with blue cap steady, then shake it.", + "Lift the white bottle with blue accents and shake it gently.", + "Use the right arm to grab the medium-sized bottle and shake properly.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Pick up the blue bottle with label and shake it well.", + "Pick up the white and blue bottle and shake it.", + "Catch the handheld bottle and shake it instantly.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Grab the handheld bottle with the right arm and shake.", + "Hold the blue bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the white bottle with blue accents.", + "Hold the bottle with blue cap and shake it properly.", + "Grab the plastic bottle using the right arm, then shake.", + "Pick the bottle with blue cap up using the right arm and shake it.", + "Lift up the medium bottle for beverages using the right arm, then shake.", + "Lift the white bottle with blue accents with the right arm and shake.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Shake the blue bottle with label after lifting it.", + "Grab the smooth plastic bottle and shake it steadily.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Hold and shake the the white and blue bottle carefully.", + "Shake the plastic bottle after holding it firmly.", + "Grab the medium bottle for beverages and move it to shake.", + "Pick the cylindrical bottle and perform shaking motion.", + "Use the right arm to grab the medium bottle for beverages and shake it.", + "Shake the handheld bottle using the right arm after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Using the right arm, shake the medium bottle for beverages and then place it back.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "With the right arm, pick the plastic bottle and shake properly.", + "Hold the white bottle with blue accents, shake it briefly.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the blue bottle.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Utilize the right arm to hold the blue bottle and shake it.", + "Grab and shake the medium-sized bottle using the right arm.", + "Grab the bottle for liquids carefully and shake.", + "Pick the cylindrical bottle up with the right arm and shake.", + "Shake the the plastic bottle properly after lifting.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Lift the blue bottle with label with the right arm and shake it.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the bottle for liquids firmly after grabbing.", + "Grasp the white bottle with blue accents with the right arm and shake it.", + "Take the medium bottle for beverages using the right arm and give it a shake.", + "Secure the blue bottle with label and perform a shake.", + "Grab the medium bottle for beverages and give it a shake.", + "Shake the medium bottle for beverages after grabbing it.", + "Lift the medium bottle for beverages and shake it thoroughly.", + "Hold the medium-sized bottle steady, then shake it.", + "Lift the plastic bottle and shake it gently.", + "Use the right arm to grab the white and blue bottle and shake properly.", + "Grip the cylindrical bottle using the right arm and shake.", + "Pick up the smooth plastic bottle and shake it well.", + "Pick up the blue bottle with label and shake it.", + "Catch the white and blue bottle and shake it instantly.", + "Pick the white and blue bottle, shake it with the right arm.", + "Grab the blue bottle with label with the right arm and shake.", + "Hold the bottle with blue cap with the right arm and shake lightly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Hold the bottle for liquids and shake it properly.", + "Grab the medium-sized bottle using the right arm, then shake.", + "Pick the cylindrical bottle up using the right arm and shake it.", + "Lift up the bottle for liquids using the right arm, then shake.", + "Lift the blue bottle with the right arm and shake.", + "Lift the blue bottle with label with the right arm and give it a shake.", + "Shake the smooth plastic bottle after lifting it.", + "Grab the handheld bottle and shake it steadily.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Hold and shake the the white bottle with blue accents carefully.", + "Shake the white and blue bottle after holding it firmly.", + "Grab the bottle with blue cap and move it to shake.", + "Pick the white and blue bottle and perform shaking motion.", + "Use the right arm to grab the handheld bottle and shake it.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Shake the smooth plastic bottle after grabbing it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Use the right arm to pick and shake the medium bottle for beverages.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Hold the smooth plastic bottle, shake it briefly.", + "Grab the handheld bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the bottle for liquids.", + "Use the right arm to hold the white bottle with blue accents and shake it.", + "Utilize the right arm to hold the white bottle with blue accents and shake it.", + "Grab and shake the blue bottle using the right arm.", + "Grab the medium bottle for beverages carefully and shake.", + "Pick the bottle for liquids up with the right arm and shake.", + "Shake the the bottle for liquids properly after lifting.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Lift the medium bottle for beverages with the right arm and shake it." + ], + "unseen": [ + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode236.json b/shake_bottle/ur5_randomized_500/instructions/episode236.json new file mode 100644 index 0000000000000000000000000000000000000000..a274bb585cecc0879fb411dd098bb6b88c64faf7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode236.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the smooth orange bottle with the left arm and shake it.", + "Hold the curved orange soda bottle, shake it briefly.", + "With the left arm, pick the round-bottom bottle with white cap and shake properly.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab the grooved orange drink bottle and move it to shake.", + "Shake the medium bottle with colorful label after grabbing it.", + "Use the left arm to pick and shake the curved orange soda bottle.", + "Pick up the cylindrical orange plastic bottle and shake it well.", + "Hold the smooth orange bottle and shake it properly.", + "Utilize the left arm to hold the ridged orange bottle with grooves and shake it.", + "Pick the medium bottle with colorful label and perform shaking motion.", + "Pick up the grooved orange drink bottle and shake it.", + "Grab the orange bottle and give it a shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the the grooved orange drink bottle properly after lifting.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Pick the ridged orange bottle with grooves up using the left arm and shake it.", + "Lift the orange drink bottle with label with the left arm and shake.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Lift up the bottle for holding drinks using the left arm, then shake.", + "Grip the light and medium-sized bottle using the left arm and shake.", + "Hold the smooth orange bottle with the left arm and shake lightly.", + "Hold and shake the the round-bottom bottle with white cap carefully.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Use the left arm to hold the ridged orange bottle with grooves and shake it.", + "Lift the curved orange soda bottle with the left arm and give it a shake.", + "Pick the curved orange soda bottle up with the left arm and shake.", + "Shake the medium bottle with colorful label after grabbing it.", + "Lift the grooved orange drink bottle and shake it gently.", + "Shake the ridged orange bottle with grooves after lifting it.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Use the left arm to grab the light and medium-sized bottle and shake it.", + "Grab the bottle for holding drinks using the left arm, then shake.", + "Use the left arm to grab the round-bottom bottle with white cap and shake properly.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Use the left arm to lift and shake the grooved orange drink bottle.", + "Grab the bottle for holding drinks carefully and shake.", + "Grab and shake the ridged orange bottle with grooves using the left arm.", + "Hold the ridged orange bottle with grooves steady, then shake it.", + "Shake the light and medium-sized bottle using the left arm after grabbing.", + "Grab the cylindrical orange plastic bottle with the left arm and shake.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Lift the plastic bottle with the left arm and shake it.", + "Secure the orange bottle and perform a shake.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Using the left arm, shake the orange drink bottle with label and then place it back.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Shake the orange bottle after holding it firmly.", + "Grab the bottle for holding drinks and shake it steadily.", + "Shake the smooth orange bottle firmly after grabbing.", + "Grasp the grooved orange drink bottle with the left arm and shake it.", + "Hold the smooth orange bottle, shake it briefly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Pick the orange drink bottle with label, shake it with the left arm.", + "Grab the plastic bottle and move it to shake.", + "Shake the bottle for holding drinks after grabbing it.", + "Use the left arm to pick and shake the smooth orange bottle.", + "Pick up the ridged orange bottle with grooves and shake it well.", + "Hold the grooved orange drink bottle and shake it properly.", + "Utilize the left arm to hold the bottle for holding drinks and shake it.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Pick up the light and medium-sized bottle and shake it.", + "Grab the light and medium-sized bottle and give it a shake.", + "Take the ridged orange bottle with grooves using the left arm and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Pick the grooved orange drink bottle up using the left arm and shake it.", + "Lift the orange bottle with the left arm and shake.", + "Secure the light and medium-sized bottle, shake it, and place it down.", + "Lift up the smooth orange bottle using the left arm, then shake.", + "Grip the ridged orange bottle with grooves using the left arm and shake.", + "Hold the grooved orange drink bottle with the left arm and shake lightly.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Use the left arm to hold the cylindrical orange plastic bottle and shake it.", + "Lift the medium bottle with colorful label with the left arm and give it a shake.", + "Pick the grooved orange drink bottle up with the left arm and shake.", + "Shake the orange drink bottle with label after grabbing it.", + "Lift the plastic bottle and shake it gently.", + "Shake the bottle for holding drinks after lifting it.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Use the left arm to grab the curved orange soda bottle and shake it.", + "Grab the ridged orange bottle with grooves using the left arm, then shake.", + "Use the left arm to grab the light and medium-sized bottle and shake properly.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Grab the plastic bottle carefully and shake.", + "Grab and shake the smooth orange bottle using the left arm.", + "Hold the grooved orange drink bottle steady, then shake it.", + "Shake the curved orange soda bottle using the left arm after grabbing.", + "Grab the grooved orange drink bottle with the left arm and shake.", + "Catch the light and medium-sized bottle and shake it instantly.", + "Lift the orange drink bottle with label with the left arm and shake it.", + "Secure the grooved orange drink bottle and perform a shake.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Using the left arm, shake the grooved orange drink bottle and then place it back.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Shake the orange bottle after holding it firmly.", + "Grab the bottle for holding drinks and shake it steadily.", + "Shake the cylindrical orange plastic bottle firmly after grabbing." + ], + "unseen": [ + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode237.json b/shake_bottle/ur5_randomized_500/instructions/episode237.json new file mode 100644 index 0000000000000000000000000000000000000000..8b862e0ef763d2724886e002808e2cd78c6fd4cd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode237.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the bottle with white printed label using the right arm.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Hold the smooth green bottle steady, then shake it.", + "Secure the smooth green bottle, shake it, and place it down.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Lift the bottle with narrow top and shake it gently.", + "Grab the bottle with ridges near base and give it a shake.", + "Grip the smooth green bottle using the right arm and shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab the medium-sized green bottle carefully and shake.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Grab the smooth green bottle and move it to shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Catch the bottle with ridges near base and shake it instantly.", + "Shake the medium-sized green bottle after grabbing it.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Use the right arm to lift and shake the medium green bottle.", + "Shake the plastic bottle after lifting it.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Use the right arm to hold the medium green bottle and shake it.", + "Pick up the green bottle with indented base and shake it.", + "Hold the plastic bottle and shake it properly.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Hold the bottle with rounded neck, shake it briefly.", + "Hold the smooth green bottle with the right arm and shake lightly.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Grasp the medium green bottle with the right arm and shake it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Lift the medium green bottle with the right arm and shake it.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Shake the smooth green bottle after grabbing it.", + "Grab the medium green bottle with the right arm and shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Shake the bottle with rounded neck after holding it firmly.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Pick up the bottle with ridges near base and shake it well.", + "Hold the plastic bottle steady, then shake it.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grab the plastic bottle and give it a shake.", + "Grip the green bottle with indented base using the right arm and shake.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Grab the medium green bottle carefully and shake.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Grab the bottle with white printed label and move it to shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Shake the bottle with rounded neck after grabbing it.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Shake the medium green bottle after lifting it.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Pick up the medium green bottle and shake it.", + "Hold the smooth green bottle and shake it properly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Hold the bottle with narrow top, shake it briefly.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the medium green bottle with the right arm and shake it.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Shake the the medium green bottle properly after lifting.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Shake the smooth green bottle after holding it firmly.", + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the green bottle with indented base thoroughly after grabbing it." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode238.json b/shake_bottle/ur5_randomized_500/instructions/episode238.json new file mode 100644 index 0000000000000000000000000000000000000000..fa2422ab65ec749ec6ce7400229f016a598e131b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode238.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the hand-sized soda bottle and move it to shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Shake the plastic drink bottle after lifting it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Lift the brown bottle with red label and shake it gently.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Secure the brown bottle with red label and perform a shake.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Secure the red-capped bottle, shake it, and place it down.", + "Shake the long thin bottle using the left arm after grabbing.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Shake the red-capped bottle after grabbing it.", + "Hold and shake the the red-capped bottle carefully.", + "Hold the red-capped bottle, shake it briefly.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Grab the long thin bottle and shake it steadily.", + "Use the left arm to pick and shake the red-capped bottle.", + "Pick up the narrow-necked bottle and shake it.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Pick up the long thin bottle and shake it well.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Catch the brown bottle with red label and shake it instantly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Lift the red-capped bottle with the left arm and shake it.", + "Hold the plastic drink bottle and shake it properly.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Shake the brown bottle with red label after holding it firmly.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Grab the Coca-Cola bottle and give it a shake.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Grab the long thin bottle and move it to shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Shake the medium dark brown bottle after lifting it.", + "Grab the brown bottle with red label carefully and shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the red-capped bottle with the left arm and shake.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Shake the the red-capped bottle properly after lifting.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Hold the plastic drink bottle, shake it briefly.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Grab the red-capped bottle and shake it steadily.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Pick up the Coca-Cola bottle and shake it.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Catch the medium dark brown bottle and shake it instantly.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Hold the narrow-necked bottle and shake it properly.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Grab the long thin bottle and give it a shake.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Use the left arm to hold the brown bottle with red label and shake it." + ], + "unseen": [ + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode239.json b/shake_bottle/ur5_randomized_500/instructions/episode239.json new file mode 100644 index 0000000000000000000000000000000000000000..deb50864dae09ba7cc29579527620cb47e1d897d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode239.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the bottle with narrow top using the left arm and shake.", + "Grab the medium-sized green bottle carefully and shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Hold the handheld green bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab and shake the green bottle with indented base using the left arm.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Pick the bottle with white printed label up with the left arm and shake.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Shake the medium green bottle using the left arm after grabbing.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the smooth green bottle and shake it well.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Lift the smooth green plastic bottle and shake it gently.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Hold the green bottle with indented base, shake it briefly.", + "Pick up the bottle with narrow top and shake it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab the green bottle with indented base and move it to shake.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the plastic bottle after holding it firmly.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Hold and shake the the medium green bottle carefully.", + "Shake the the smooth green bottle properly after lifting.", + "Use the left arm to lift and shake the medium green bottle.", + "Lift the medium green bottle with the left arm and shake.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Shake the green bottle with indented base after lifting it.", + "Secure the green bottle with indented base and perform a shake.", + "Grip the plastic bottle using the left arm and shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Hold the bottle with narrow top and shake it properly.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Catch the handheld green bottle and shake it instantly.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the smooth green bottle, shake it with the left arm.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab and shake the plastic bottle using the left arm.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Pick the plastic bottle up with the left arm and shake.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Grab the handheld green bottle with the left arm and shake.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Grab the green bottle with indented base and give it a shake.", + "Pick up the bottle with narrow top and shake it well.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the bottle with narrow top and shake it gently.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Hold the bottle with narrow top, shake it briefly.", + "Pick up the bottle with ridges near base and shake it.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Grab the bottle with white printed label and move it to shake.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Use the left arm to pick and shake the plastic bottle.", + "Hold and shake the the green bottle with indented base carefully.", + "Shake the the bottle with narrow top properly after lifting.", + "Use the left arm to lift and shake the medium green bottle.", + "Lift the bottle with narrow top with the left arm and shake.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Shake the smooth green plastic bottle after lifting it.", + "Secure the bottle with ridges near base and perform a shake." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode24.json b/shake_bottle/ur5_randomized_500/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..c662f73e60f1009db3134da029507d73bb9ca674 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Lift the ridged orange bottle with grooves and shake it thoroughly.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Shake the plastic bottle after grabbing it.", + "Pick up the cylindrical orange plastic bottle and shake it well.", + "Take the bottle for holding drinks using the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Use the right arm to hold the ridged orange bottle with grooves and shake it.", + "Grasp the round-bottom bottle with white cap with the right arm and shake it.", + "Use the right arm to grab the smooth orange bottle and shake properly.", + "Shake the curved orange soda bottle after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Lift up the orange drink bottle with label using the right arm, then shake.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Catch the curved orange soda bottle and shake it instantly.", + "Secure the ridged orange bottle with grooves and perform a shake.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Shake the orange bottle firmly after grabbing.", + "Shake the cylindrical orange plastic bottle using the right arm after grabbing.", + "Grab the light and medium-sized bottle with the right arm and shake.", + "Use the right arm to grab the grooved orange drink bottle and shake it.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Pick the medium bottle with colorful label up using the right arm and shake it.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Grab the bottle for holding drinks and move it to shake.", + "Hold the orange drink bottle with label with the right arm and shake lightly.", + "Shake the the ridged orange bottle with grooves properly after lifting.", + "Using the right arm, shake the round-bottom bottle with white cap and then place it back.", + "Grip the light and medium-sized bottle using the right arm and shake.", + "Lift the curved orange soda bottle with the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake.", + "Shake the ridged orange bottle with grooves after holding it firmly.", + "Pick the round-bottom bottle with white cap, shake it with the right arm.", + "Lift the orange drink bottle with label and shake it gently.", + "Hold the medium bottle with colorful label and shake it properly.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "With the right arm, pick the orange bottle and shake properly.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Use the right arm to pick and shake the curved orange soda bottle.", + "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Grab the orange bottle using the right arm, then shake.", + "Grab the curved orange soda bottle carefully and shake.", + "Hold the light and medium-sized bottle, shake it briefly.", + "Pick the orange bottle up with the right arm and shake.", + "Grab the light and medium-sized bottle and give it a shake.", + "Grab and shake the plastic bottle using the right arm.", + "Pick up the orange drink bottle with label and shake it.", + "Pick the grooved orange drink bottle and perform shaking motion.", + "Grab the round-bottom bottle with white cap and shake it steadily.", + "Use the right arm to lift and shake the curved orange soda bottle.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Shake the orange bottle after grabbing it.", + "Pick up the light and medium-sized bottle and shake it well.", + "Take the smooth orange bottle using the right arm and give it a shake.", + "Lift the orange bottle with the right arm and shake it.", + "Use the right arm to hold the medium bottle with colorful label and shake it.", + "Grasp the cylindrical orange plastic bottle with the right arm and shake it.", + "Use the right arm to grab the grooved orange drink bottle and shake properly.", + "Shake the round-bottom bottle with white cap after lifting it.", + "Shake the medium bottle with colorful label after grabbing it.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Lift up the curved orange soda bottle using the right arm, then shake.", + "Use the right arm to lift and shake the orange bottle.", + "Catch the orange bottle and shake it instantly.", + "Secure the round-bottom bottle with white cap and perform a shake.", + "Grab the light and medium-sized bottle firmly, shake it, and put it down.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the ridged orange bottle with grooves using the right arm after grabbing.", + "Grab the cylindrical orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the medium bottle with colorful label and shake it.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Pick the orange drink bottle with label up using the right arm and shake it.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Grab the grooved orange drink bottle and move it to shake.", + "Hold the ridged orange bottle with grooves with the right arm and shake lightly.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Using the right arm, shake the curved orange soda bottle and then place it back.", + "Grip the round-bottom bottle with white cap using the right arm and shake.", + "Lift the medium bottle with colorful label with the right arm and give it a shake.", + "Lift the bottle for holding drinks with the right arm and shake.", + "Shake the grooved orange drink bottle after holding it firmly.", + "Pick the bottle for holding drinks, shake it with the right arm.", + "Lift the grooved orange drink bottle and shake it gently.", + "Hold the plastic bottle and shake it properly.", + "Shake the plastic bottle after grabbing it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Hold and shake the the cylindrical orange plastic bottle carefully.", + "Use the right arm to pick and shake the medium bottle with colorful label.", + "Utilize the right arm to hold the medium bottle with colorful label and shake it.", + "Grab the round-bottom bottle with white cap using the right arm, then shake.", + "Grab the light and medium-sized bottle carefully and shake.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Pick the medium bottle with colorful label up with the right arm and shake.", + "Grab the orange bottle and give it a shake.", + "Grab and shake the orange drink bottle with label using the right arm.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Pick the grooved orange drink bottle and perform shaking motion.", + "Grab the orange bottle and shake it steadily." + ], + "unseen": [ + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode240.json b/shake_bottle/ur5_randomized_500/instructions/episode240.json new file mode 100644 index 0000000000000000000000000000000000000000..37d5bfb4e82cb1c0463ac4d2d1e2f8fe1c6691e5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode240.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with sealed yellow cap with the left arm and shake it.", + "Pick the bottle with narrow neck, shake it with the left arm.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grab the cylindrical orange bottle with yellow top using the left arm, then shake.", + "Grasp the yellow-capped plastic bottle with the left arm and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle with printed label.", + "Lift the orange bottle and shake it gently.", + "Shake the bottle with printed label after grabbing it.", + "Use the left arm to hold the bottle with printed label and shake it.", + "Pick the orange bottle up with the left arm and shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Grab the bottle with yellow cap and shake it steadily.", + "Shake the bottle with printed label after grabbing it.", + "Grab the orange cylindrical bottle and move it to shake.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Pick the cylindrical orange bottle with yellow top up using the left arm and shake it.", + "Grab and shake the bottle with yellow cap using the left arm.", + "Use the left arm to grab the yellow-capped plastic bottle and shake it.", + "Shake the bottle with yellow cap after holding it firmly.", + "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.", + "Take the medium-sized orange bottle using the left arm and give it a shake.", + "Grab the bottle with narrow neck carefully and shake.", + "Using the left arm, shake the plastic bottle with sealed yellow cap and then place it back.", + "Shake the medium-sized orange bottle firmly after grabbing.", + "Grab the bottle with narrow neck with the left arm and shake.", + "Lift the bottle with narrow neck with the left arm and shake.", + "Hold the medium-sized orange bottle with the left arm and shake lightly.", + "Hold the bottle with printed label, shake it briefly.", + "Shake the bottle with narrow neck thoroughly after grabbing it.", + "Lift up the cylindrical orange bottle with yellow top using the left arm, then shake.", + "Catch the plastic bottle with sealed yellow cap and shake it instantly.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Shake the the bottle with narrow neck properly after lifting.", + "With the left arm, pick the bottle with narrow neck and shake properly.", + "Lift the orange bottle and shake it thoroughly.", + "Pick up the yellow-capped plastic bottle and shake it well.", + "Use the left arm to grab the orange cylindrical bottle and shake properly.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Use the left arm to pick and shake the medium-sized orange bottle.", + "Secure the plastic bottle and perform a shake.", + "Grab the cylindrical orange bottle with yellow top and give it a shake.", + "Utilize the left arm to hold the bottle with yellow cap and shake it.", + "Grip the orange bottle using the left arm and shake.", + "Use the left arm to lift and shake the yellow-capped plastic bottle.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Shake the bottle with narrow neck after grabbing it.", + "Shake the orange bottle using the left arm after grabbing.", + "Shake the bottle with narrow neck after lifting it.", + "Pick up the plastic bottle and shake it.", + "Lift the bottle with printed label with the left arm and shake it.", + "Pick the orange bottle, shake it with the left arm.", + "Lift the yellow-capped plastic bottle with the left arm and give it a shake.", + "Grab the bottle for liquids using the left arm, then shake.", + "Grasp the plastic bottle with sealed yellow cap with the left arm and shake it.", + "Hold the orange cylindrical bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Lift the plastic bottle and shake it gently.", + "Shake the bottle for liquids after grabbing it.", + "Use the left arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Pick the plastic bottle with sealed yellow cap up with the left arm and shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Grab the bottle with printed label and shake it steadily.", + "Shake the bottle with narrow neck after grabbing it.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Pick the bottle with printed label up using the left arm and shake it.", + "Grab and shake the medium-sized orange bottle using the left arm.", + "Use the left arm to grab the yellow-capped plastic bottle and shake it.", + "Shake the smooth plastic bottle after holding it firmly.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Using the left arm, shake the medium-sized orange bottle and then place it back.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Grab the plastic bottle with the left arm and shake.", + "Lift the orange cylindrical bottle with the left arm and shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Lift up the orange cylindrical bottle using the left arm, then shake.", + "Catch the bottle with yellow cap and shake it instantly.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Shake the the bottle with narrow neck properly after lifting.", + "With the left arm, pick the orange bottle and shake properly.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Pick up the smooth plastic bottle and shake it well.", + "Use the left arm to grab the yellow-capped plastic bottle and shake properly.", + "Pick the orange cylindrical bottle and perform shaking motion.", + "Use the left arm to pick and shake the bottle for liquids.", + "Secure the bottle with yellow cap and perform a shake.", + "Grab the plastic bottle and give it a shake.", + "Utilize the left arm to hold the orange cylindrical bottle and shake it.", + "Grip the smooth plastic bottle using the left arm and shake.", + "Use the left arm to lift and shake the bottle with narrow neck.", + "Use the left arm to lift and shake the bottle for liquids.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Shake the orange bottle using the left arm after grabbing.", + "Shake the bottle with narrow neck after lifting it.", + "Pick up the smooth plastic bottle and shake it." + ], + "unseen": [ + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Use the left arm to grab the label-covered orange bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode241.json b/shake_bottle/ur5_randomized_500/instructions/episode241.json new file mode 100644 index 0000000000000000000000000000000000000000..5658d6ac89d8a7d453f1123058ad9767ed41097a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode241.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow body bottle after grabbing it.", + "Pick the yellow body bottle up using the left arm and shake it.", + "Grab and shake the yellow bottle with flower design using the left arm.", + "Use the left arm to lift and shake the rectangular bottle.", + "Grab the yellow bottle with cylindrical cap using the left arm, then shake.", + "With the left arm, pick the yellow bottle and shake properly.", + "Pick the yellow bottle with cylindrical cap and perform shaking motion.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Hold the yellow bottle with green label steady, then shake it.", + "Hold the yellow bottle with cylindrical cap, shake it briefly.", + "Lift up the yellow body bottle using the left arm, then shake.", + "Catch the plastic bottle and shake it instantly.", + "Shake the yellow bottle with green label after grabbing it.", + "Grab the rectangular bottle and move it to shake.", + "Grab the plastic bottle and give it a shake.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Use the left arm to grab the bottle with green and white label and shake it.", + "Shake the bottle with white cap firmly after grabbing.", + "Secure the rectangular bottle and perform a shake.", + "Grab the bottle with green and white label with the left arm and shake.", + "Shake the the yellow body bottle properly after lifting.", + "Lift the yellow body bottle and shake it thoroughly.", + "Use the left arm to lift and shake the rectangular bottle.", + "Grab the yellow bottle with flower design firmly, shake it, and put it down.", + "Pick the yellow bottle with flower design, shake it with the left arm.", + "Secure the rectangular bottle, shake it, and place it down.", + "Lift the yellow bottle with flower design with the left arm and shake.", + "Lift the bottle with white cap with the left arm and shake it.", + "Shake the yellow body bottle using the left arm after grabbing.", + "Take the handheld bottle using the left arm and give it a shake.", + "Pick up the yellow body bottle and shake it.", + "Use the left arm to grab the yellow bottle with green label and shake properly.", + "Hold the yellow body bottle and shake it properly.", + "Using the left arm, shake the smooth yellow plastic bottle and then place it back.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Pick up the yellow bottle with green label and shake it well.", + "Grasp the yellow bottle with cylindrical cap with the left arm and shake it.", + "Pick the bottle for liquids up with the left arm and shake.", + "Use the left arm to pick and shake the bottle with green and white label.", + "Grab the yellow bottle with cylindrical cap carefully and shake.", + "Shake the bottle for liquids after holding it firmly.", + "Grip the bottle with green and white label using the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Hold and shake the the smooth yellow plastic bottle carefully.", + "Grab the bottle with green and white label and shake it steadily.", + "Lift the yellow bottle with green label and shake it gently.", + "Shake the yellow bottle with flower design after lifting it.", + "Shake the bottle with white cap after grabbing it.", + "Pick the yellow bottle up using the left arm and shake it.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to lift and shake the yellow bottle with cylindrical cap.", + "Grab the yellow body bottle using the left arm, then shake.", + "With the left arm, pick the smooth yellow plastic bottle and shake properly.", + "Pick the rectangular bottle and perform shaking motion.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Use the left arm to hold the yellow bottle with cylindrical cap and shake it.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Hold the bottle for liquids steady, then shake it.", + "Hold the bottle for liquids, shake it briefly.", + "Lift up the yellow bottle with flower design using the left arm, then shake.", + "Catch the smooth yellow plastic bottle and shake it instantly.", + "Shake the bottle with white cap after grabbing it.", + "Grab the yellow bottle and move it to shake.", + "Grab the yellow bottle with flower design and give it a shake.", + "Lift the bottle with green and white label with the left arm and give it a shake.", + "Use the left arm to grab the yellow body bottle and shake it.", + "Shake the yellow body bottle firmly after grabbing.", + "Secure the plastic bottle and perform a shake.", + "Grab the yellow bottle with flower design with the left arm and shake.", + "Shake the the bottle with white cap properly after lifting.", + "Lift the yellow bottle and shake it thoroughly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the yellow bottle with cylindrical cap, shake it with the left arm.", + "Secure the yellow body bottle, shake it, and place it down.", + "Lift the plastic bottle with the left arm and shake.", + "Lift the bottle for liquids with the left arm and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Take the handheld bottle using the left arm and give it a shake.", + "Pick up the smooth yellow plastic bottle and shake it.", + "Use the left arm to grab the handheld bottle and shake properly.", + "Hold the bottle with white cap and shake it properly.", + "Using the left arm, shake the yellow bottle with flower design and then place it back.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Pick up the yellow bottle with cylindrical cap and shake it well.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Pick the yellow body bottle up with the left arm and shake.", + "Use the left arm to pick and shake the handheld bottle.", + "Grab the plastic bottle carefully and shake.", + "Shake the yellow bottle after holding it firmly.", + "Grip the handheld bottle using the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold and shake the the yellow bottle with cylindrical cap carefully.", + "Grab the yellow body bottle and shake it steadily.", + "Lift the yellow body bottle and shake it gently.", + "Shake the yellow bottle after lifting it." + ], + "unseen": [ + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Use the left arm to pick the medium bottle.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Use the left arm to pick the bottle with printed label.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Use the left arm to pick the medium bottle.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the medium bottle and shake it.", + "Use the left arm to pick the bottle with printed label.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Use the left arm to pick the medium bottle.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle with the left arm and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Use the left arm to pick the medium bottle.", + "Shake the medium bottle after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with printed label and shake.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the medium bottle and shake it.", + "Use the left arm to pick the medium bottle.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the left arm to grab the bottle with printed label and shake.", + "Pick up the medium bottle with the left arm and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the medium bottle and shake it.", + "Use the left arm to pick the medium bottle.", + "Shake the medium bottle after picking it with the left arm.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Use the left arm to pick the bottle with rounded edges.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Use the left arm to pick the bottle with rounded edges." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode242.json b/shake_bottle/ur5_randomized_500/instructions/episode242.json new file mode 100644 index 0000000000000000000000000000000000000000..f36fb2255d920591e30271be9c5f459bddbba285 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode242.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with green label using the left arm, then shake.", + "Hold the plastic bottle, shake it briefly.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Pick up the plastic bottle and shake it.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Shake the yellow container with rounded edges after grabbing it.", + "Lift the bottle with green and white labels with the left arm and shake it.", + "Grip the bottle with green label using the left arm and shake.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Take the bottle with green label using the left arm and give it a shake.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "With the left arm, pick the yellow plastic bottle with white top and shake properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Lift the bottle with white cap and shake it gently.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Grab and shake the bottle with white cap using the left arm.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Catch the bottle with green label and shake it instantly.", + "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.", + "Shake the yellow bottle with a green design using the left arm after grabbing.", + "Lift the yellow bottle with the left arm and give it a shake.", + "Secure the yellow bottle and perform a shake.", + "Pick the medium rectangular yellow bottle up using the left arm and shake it.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the plastic bottle.", + "Utilize the left arm to hold the yellow plastic bottle with white top and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to hold the bottle with green label and shake it.", + "Grab the smooth bottle with rounded edges and give it a shake.", + "Pick the yellow bottle with a green design up with the left arm and shake.", + "Pick up the bottle with white cap and shake it well.", + "Secure the yellow plastic bottle with white top, shake it, and place it down.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Lift the yellow container with rounded edges with the left arm and shake.", + "Grasp the yellow bottle with the left arm and shake it.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to grab the yellow container with rounded edges and shake properly.", + "Use the left arm to grab the bottle with green label and shake it.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Pick the bottle with green label and perform shaking motion.", + "Grab the bottle with green and white labels with the left arm and shake.", + "Grab the bottle with white cap using the left arm, then shake.", + "Hold the rectangular bottle with cylindrical neck, shake it briefly.", + "Hold and shake the the bottle with green label carefully.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Grab the yellow container with rounded edges carefully and shake.", + "Pick up the yellow bottle with a green design and shake it.", + "Using the left arm, shake the yellow bottle with a green design and then place it back.", + "Shake the plastic bottle after grabbing it.", + "Lift the yellow bottle with the left arm and shake it.", + "Grip the plastic bottle using the left arm and shake.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Take the medium rectangular yellow bottle using the left arm and give it a shake.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Hold the bottle with white cap steady, then shake it.", + "Grab and shake the plastic bottle using the left arm.", + "Shake the yellow bottle after grabbing it.", + "Catch the yellow container with rounded edges and shake it instantly.", + "Pick the yellow bottle with a green design, shake it with the left arm.", + "Shake the bottle with green label using the left arm after grabbing.", + "Lift the bottle with a smooth plastic body with the left arm and give it a shake.", + "Secure the yellow container with rounded edges and perform a shake.", + "Pick the bottle with green label up using the left arm and shake it.", + "Hold the yellow container with rounded edges with the left arm and shake lightly.", + "Use the left arm to pick and shake the rectangular bottle with cylindrical neck.", + "Utilize the left arm to hold the yellow container with rounded edges and shake it.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Use the left arm to hold the bottle with green label and shake it.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Pick the smooth bottle with rounded edges up with the left arm and shake.", + "Pick up the yellow bottle and shake it well.", + "Secure the bottle with white cap, shake it, and place it down.", + "Shake the rectangular bottle with cylindrical neck after holding it firmly.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to lift and shake the bottle with white cap.", + "Lift the bottle with a smooth plastic body with the left arm and shake.", + "Grasp the smooth bottle with rounded edges with the left arm and shake it.", + "Grab the yellow bottle and move it to shake.", + "Use the left arm to lift and shake the medium rectangular yellow bottle.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Use the left arm to grab the rectangular bottle with cylindrical neck and shake it.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.", + "Pick the smooth bottle with rounded edges and perform shaking motion.", + "Grab the yellow bottle with the left arm and shake." + ], + "unseen": [ + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode243.json b/shake_bottle/ur5_randomized_500/instructions/episode243.json new file mode 100644 index 0000000000000000000000000000000000000000..dc828e385100c68b892d4684e23b95f7ffeac6f5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode243.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth green and yellow bottle after holding it firmly.", + "Hold and shake the the green bottle carefully.", + "Shake the medium bottle with green body firmly after grabbing.", + "Lift the smooth green and yellow bottle with the right arm and give it a shake.", + "Secure the cylindrical bottle with rounded cap and perform a shake.", + "Pick the cylindrical liquid bottle with yellow top, shake it with the right arm.", + "Pick up the plastic bottle with colored label and shake it.", + "Hold the bottle with glossy plastic finish steady, then shake it.", + "Grab the cylindrical liquid bottle with yellow top and move it to shake.", + "Pick the bottle with glossy plastic finish up with the right arm and shake.", + "Use the right arm to lift and shake the green bottle.", + "Use the right arm to pick and shake the green bottle with white label.", + "Grab the smooth green and yellow bottle carefully and shake.", + "Shake the cylindrical bottle with rounded cap thoroughly after grabbing it.", + "Take the cylindrical bottle with rounded cap using the right arm and give it a shake.", + "Using the right arm, shake the bottle with yellow cap and then place it back.", + "Grip the plastic bottle with colored label using the right arm and shake.", + "With the right arm, pick the smooth green and yellow bottle and shake properly.", + "Hold the medium bottle with green body with the right arm and shake lightly.", + "Shake the the smooth green and yellow bottle properly after lifting.", + "Secure the cylindrical bottle with rounded cap, shake it, and place it down.", + "Lift up the plastic bottle with colored label using the right arm, then shake.", + "Grasp the medium bottle with green body with the right arm and shake it.", + "Grab the bottle with yellow cap using the right arm, then shake.", + "Lift the plastic bottle with colored label with the right arm and shake it.", + "Shake the cylindrical liquid bottle with yellow top after lifting it.", + "Use the right arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Grab the green bottle firmly, shake it, and put it down.", + "Grab the green bottle and give it a shake.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Utilize the right arm to hold the green bottle and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the smooth green and yellow bottle and shake it steadily.", + "Hold the cylindrical bottle with rounded cap, shake it briefly.", + "Use the right arm to grab the handheld plastic bottle and shake properly.", + "Lift the bottle with glossy plastic finish and shake it gently.", + "Pick up the handheld plastic bottle and shake it well.", + "Hold the plastic bottle with colored label and shake it properly.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Grab and shake the plastic bottle with colored label using the right arm.", + "Grab the green bottle with white label with the right arm and shake.", + "Lift the smooth green and yellow bottle with the right arm and shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Pick the green bottle up using the right arm and shake it.", + "Pick the cylindrical bottle with rounded cap and perform shaking motion.", + "Lift the plastic bottle with colored label and shake it thoroughly.", + "Shake the bottle with yellow cap after grabbing it.", + "Catch the green bottle with black text label and shake it instantly.", + "Shake the cylindrical liquid bottle with yellow top after holding it firmly.", + "Hold and shake the the green bottle with black text label carefully.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the green bottle with the right arm and give it a shake.", + "Secure the green bottle with black text label and perform a shake.", + "Pick the medium bottle with green body, shake it with the right arm.", + "Pick up the cylindrical liquid bottle with yellow top and shake it.", + "Hold the green bottle steady, then shake it.", + "Grab the plastic bottle and move it to shake.", + "Pick the medium bottle with green body up with the right arm and shake.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Use the right arm to pick and shake the plastic bottle.", + "Grab the plastic bottle carefully and shake.", + "Shake the cylindrical liquid bottle with yellow top thoroughly after grabbing it.", + "Take the cylindrical bottle with rounded cap using the right arm and give it a shake.", + "Using the right arm, shake the bottle with yellow cap and then place it back.", + "Grip the green bottle with black text label using the right arm and shake.", + "With the right arm, pick the cylindrical liquid bottle with yellow top and shake properly.", + "Hold the smooth green and yellow bottle with the right arm and shake lightly.", + "Shake the the bottle with yellow cap properly after lifting.", + "Secure the green bottle with black text label, shake it, and place it down.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grasp the green bottle with black text label with the right arm and shake it.", + "Grab the medium bottle with green body using the right arm, then shake.", + "Lift the cylindrical liquid bottle with yellow top with the right arm and shake it.", + "Shake the bottle with glossy plastic finish after lifting it.", + "Use the right arm to hold the green bottle with black text label and shake it.", + "Grab the handheld plastic bottle firmly, shake it, and put it down.", + "Grab the medium bottle with green body and give it a shake.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Utilize the right arm to hold the smooth green and yellow bottle and shake it.", + "Use the right arm to lift and shake the green bottle with white label.", + "Grab the bottle with glossy plastic finish and shake it steadily.", + "Hold the cylindrical bottle with rounded cap, shake it briefly.", + "Use the right arm to grab the handheld plastic bottle and shake properly.", + "Lift the bottle with glossy plastic finish and shake it gently.", + "Pick up the green bottle with black text label and shake it well.", + "Hold the plastic bottle with colored label and shake it properly.", + "Use the right arm to lift and shake the handheld plastic bottle.", + "Use the right arm to grab the medium bottle with green body and shake it.", + "Grab and shake the handheld plastic bottle using the right arm.", + "Grab the green bottle with black text label with the right arm and shake.", + "Lift the smooth green and yellow bottle with the right arm and shake.", + "Shake the cylindrical liquid bottle with yellow top using the right arm after grabbing.", + "Shake the green bottle after grabbing it.", + "Pick the bottle with yellow cap up using the right arm and shake it.", + "Pick the smooth green and yellow bottle and perform shaking motion.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the green bottle after grabbing it.", + "Catch the plastic bottle with colored label and shake it instantly." + ], + "unseen": [ + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized drink bottle.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green base and black prints.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green base and black prints.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized drink bottle.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the bottle with green base and black prints and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode244.json b/shake_bottle/ur5_randomized_500/instructions/episode244.json new file mode 100644 index 0000000000000000000000000000000000000000..698e588e74a026b866397fd0353bdae7e62fa137 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode244.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the orange cylindrical bottle properly after lifting.", + "Grip the smooth plastic bottle using the left arm and shake.", + "Secure the orange cylindrical bottle, shake it, and place it down.", + "Lift up the cylindrical orange bottle with yellow top using the left arm, then shake.", + "Pick the bottle with narrow neck up with the left arm and shake.", + "Hold the bottle with yellow cap, shake it briefly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Secure the bottle with narrow neck and perform a shake.", + "Grab and shake the bottle with yellow cap using the left arm.", + "Grab the cylindrical orange bottle with yellow top and give it a shake.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Pick up the bottle with narrow neck and shake it well.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Use the left arm to pick and shake the medium-sized orange bottle.", + "Grab the bottle with narrow neck with the left arm and shake.", + "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.", + "Hold the orange cylindrical bottle and shake it properly.", + "Lift the plastic bottle with sealed yellow cap with the left arm and shake.", + "Shake the bottle with printed label after lifting it.", + "Shake the plastic bottle with sealed yellow cap using the left arm after grabbing.", + "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.", + "Hold the bottle with printed label steady, then shake it.", + "Grasp the medium-sized orange bottle with the left arm and shake it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Hold the medium-sized orange bottle with the left arm and shake lightly.", + "With the left arm, pick the bottle with printed label and shake properly.", + "Lift the plastic bottle and shake it gently.", + "Lift the bottle with printed label and shake it thoroughly.", + "Lift the medium-sized orange bottle with the left arm and give it a shake.", + "Pick the orange bottle and perform shaking motion.", + "Shake the bottle for liquids after grabbing it.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Shake the medium-sized orange bottle after holding it firmly.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Hold and shake the the smooth plastic bottle carefully.", + "Take the plastic bottle with sealed yellow cap using the left arm and give it a shake.", + "Grab the bottle with yellow cap carefully and shake.", + "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Grab the bottle with narrow neck using the left arm, then shake.", + "Using the left arm, shake the yellow-capped plastic bottle and then place it back.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Grab the bottle with printed label and shake it steadily.", + "Shake the medium-sized orange bottle after grabbing it.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Grip the bottle with yellow cap using the left arm and shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift up the bottle with yellow cap using the left arm, then shake.", + "Pick the orange cylindrical bottle up with the left arm and shake.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to hold the bottle with narrow neck and shake it.", + "Secure the orange cylindrical bottle and perform a shake.", + "Grab and shake the orange cylindrical bottle using the left arm.", + "Grab the orange bottle and give it a shake.", + "Grab the medium-sized orange bottle and move it to shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Pick up the bottle with yellow cap and shake it well.", + "Use the left arm to lift and shake the yellow-capped plastic bottle.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Grab the yellow-capped plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Lift the bottle for liquids with the left arm and shake.", + "Shake the cylindrical orange bottle with yellow top after lifting it.", + "Shake the bottle for liquids using the left arm after grabbing.", + "Use the left arm to grab the orange cylindrical bottle and shake it.", + "Hold the bottle with yellow cap steady, then shake it.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Pick the bottle with printed label, shake it with the left arm.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Lift the cylindrical orange bottle with yellow top and shake it gently.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the plastic bottle with sealed yellow cap with the left arm and give it a shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Shake the bottle with yellow cap after grabbing it.", + "Pick up the orange cylindrical bottle and shake it.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Shake the bottle for liquids after holding it firmly.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Hold and shake the the plastic bottle carefully.", + "Take the bottle with narrow neck using the left arm and give it a shake.", + "Grab the bottle with yellow cap carefully and shake.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the plastic bottle using the left arm, then shake.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Shake the cylindrical orange bottle with yellow top firmly after grabbing.", + "Catch the bottle with printed label and shake it instantly.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Grab the bottle with narrow neck and shake it steadily.", + "Shake the bottle for liquids after grabbing it." + ], + "unseen": [ + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode245.json b/shake_bottle/ur5_randomized_500/instructions/episode245.json new file mode 100644 index 0000000000000000000000000000000000000000..fa890ba7dbac33122565d8add7ad76e1738ed0fe --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode245.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the right arm to hold the medium-sized plastic bottle and shake it.", + "Hold the light gray colored container bottle with the right arm and shake lightly.", + "Shake the the smooth cylindrical bottle properly after lifting.", + "Lift the bottle shaped like small cylinder and shake it gently.", + "Use the right arm to lift and shake the rounded body bottle made of plastic.", + "Pick the milk-bottle shape design and perform shaking motion.", + "Lift the medium cylinder-shaped bottle with the right arm and give it a shake.", + "Grab the rounded body bottle made of plastic and shake it steadily.", + "Hold the hand-sized bottle with screw cap, shake it briefly.", + "Grab the smooth surface bottle with gray shade with the right arm and shake.", + "Hold the smooth cylindrical bottle steady, then shake it.", + "Use the right arm to hold the medium cylinder-shaped bottle and shake it.", + "Grab the rounded body bottle made of plastic using the right arm, then shake.", + "Grasp the smooth surface bottle with gray shade with the right arm and shake it.", + "Use the right arm to pick and shake the light gray colored container bottle.", + "Shake the smooth surface bottle with gray shade after lifting it.", + "Grab and shake the bottle shaped like small cylinder using the right arm.", + "Hold and shake the the smooth surface bottle with gray shade carefully.", + "Lift the bottle shaped like small cylinder and shake it thoroughly.", + "Shake the light gray colored container bottle after grabbing it.", + "Shake the milk-bottle shape design firmly after grabbing.", + "Pick the medium cylinder-shaped bottle up using the right arm and shake it.", + "Lift the smooth surface bottle with gray shade with the right arm and shake it.", + "Lift up the milk-bottle shape design using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with cute ghost drawing.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Secure the bottle with cute ghost drawing and perform a shake.", + "Shake the plastic bottle with ghost print using the right arm after grabbing.", + "Pick up the medium cylinder-shaped bottle and shake it.", + "Secure the smooth surface bottle with gray shade, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with cute ghost drawing.", + "Pick the bottle with cute ghost drawing, shake it with the right arm.", + "Grip the smooth cylindrical bottle using the right arm and shake.", + "Pick up the light gray colored container bottle and shake it well.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Grab the plastic bottle with ghost print and give it a shake.", + "Shake the smooth cylindrical bottle after holding it firmly.", + "Grab the smooth surface bottle with gray shade and move it to shake.", + "Grab the rounded body bottle made of plastic firmly, shake it, and put it down.", + "Use the right arm to grab the hand-sized bottle with screw cap and shake properly.", + "Hold the gray bottle with slight shine and shake it properly.", + "Catch the rounded body bottle made of plastic and shake it instantly.", + "With the right arm, pick the milk-bottle shape design and shake properly.", + "Using the right arm, shake the bottle with cute ghost drawing and then place it back.", + "Shake the smooth surface bottle with gray shade thoroughly after grabbing it.", + "Use the right arm to grab the medium cylinder-shaped bottle and shake it.", + "Pick the milk-bottle shape design up with the right arm and shake.", + "Lift the smooth surface bottle with gray shade with the right arm and shake.", + "Take the medium cylinder-shaped bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the smooth surface bottle with gray shade and shake it.", + "Hold the light gray colored container bottle with the right arm and shake lightly.", + "Shake the the rounded body bottle made of plastic properly after lifting.", + "Lift the medium-sized plastic bottle and shake it gently.", + "Use the right arm to lift and shake the plastic bottle with ghost print.", + "Pick the medium-sized plastic bottle and perform shaking motion.", + "Lift the medium cylinder-shaped bottle with the right arm and give it a shake.", + "Grab the medium-sized plastic bottle and shake it steadily.", + "Hold the gray bottle with slight shine, shake it briefly.", + "Grab the smooth cylindrical bottle with the right arm and shake.", + "Hold the rounded body bottle made of plastic steady, then shake it.", + "Use the right arm to hold the medium cylinder-shaped bottle and shake it.", + "Grab the rounded body bottle made of plastic using the right arm, then shake.", + "Grasp the milk-bottle shape design with the right arm and shake it.", + "Use the right arm to pick and shake the hand-sized bottle with screw cap.", + "Shake the milk-bottle shape design after lifting it.", + "Grab and shake the gray bottle with slight shine using the right arm.", + "Hold and shake the the gray bottle with slight shine carefully.", + "Lift the milk-bottle shape design and shake it thoroughly.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Shake the hand-sized bottle with screw cap firmly after grabbing.", + "Pick the light gray colored container bottle up using the right arm and shake it.", + "Lift the gray bottle with slight shine with the right arm and shake it.", + "Lift up the bottle shaped like small cylinder using the right arm, then shake.", + "Use the right arm to lift and shake the gray bottle with slight shine.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Secure the bottle with cute ghost drawing and perform a shake.", + "Shake the medium cylinder-shaped bottle using the right arm after grabbing.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Secure the bottle shaped like small cylinder, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with cute ghost drawing.", + "Pick the milk-bottle shape design, shake it with the right arm.", + "Grip the medium-sized plastic bottle using the right arm and shake.", + "Pick up the smooth cylindrical bottle and shake it well.", + "Grab the bottle with cute ghost drawing carefully and shake.", + "Grab the smooth cylindrical bottle and give it a shake.", + "Shake the bottle with cute ghost drawing after holding it firmly.", + "Grab the plastic bottle with ghost print and move it to shake.", + "Grab the gray bottle with slight shine firmly, shake it, and put it down.", + "Use the right arm to grab the medium-sized plastic bottle and shake properly.", + "Hold the medium-sized plastic bottle and shake it properly.", + "Catch the bottle shaped like small cylinder and shake it instantly.", + "With the right arm, pick the smooth surface bottle with gray shade and shake properly.", + "Using the right arm, shake the milk-bottle shape design and then place it back.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Use the right arm to grab the medium cylinder-shaped bottle and shake it.", + "Pick the smooth surface bottle with gray shade up with the right arm and shake.", + "Lift the bottle shaped like small cylinder with the right arm and shake.", + "Take the bottle with cute ghost drawing using the right arm and give it a shake." + ], + "unseen": [ + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the right arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode246.json b/shake_bottle/ur5_randomized_500/instructions/episode246.json new file mode 100644 index 0000000000000000000000000000000000000000..a325e690d9293c8a6ca6be3e7f582fa895e84bbc --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode246.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the brown bottle with red label with the right arm and shake it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the red-capped bottle using the right arm, then shake.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Catch the long thin bottle and shake it instantly.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Shake the long thin bottle after grabbing it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grab the long thin bottle with the right arm and shake.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Lift the red-capped bottle and shake it thoroughly.", + "Use the right arm to grab the long thin bottle and shake it.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Hold the Coca-Cola bottle and shake it properly.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Shake the long thin bottle firmly after grabbing.", + "Lift the plastic drink bottle with the right arm and shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Pick up the dark drink bottle with logo and shake it well.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Lift the bottle with white neck and red top and shake it gently.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Shake the plastic drink bottle after lifting it.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the long thin bottle carefully and shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Grab the bottle with white neck and red top and give it a shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Pick up the long thin bottle and shake it.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Grab and shake the red-capped bottle using the right arm.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the red-capped bottle and move it to shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Lift the long thin bottle and shake it thoroughly.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Pick the red-capped bottle up with the right arm and shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Lift the plastic drink bottle with the right arm and shake.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Pick up the bottle with white neck and red top and shake it well.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grasp the long thin bottle with the right arm and shake it.", + "Shake the red-capped bottle after lifting it.", + "Shake the the medium dark brown bottle properly after lifting.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the brown bottle with red label carefully and shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grab the dark drink bottle with logo and give it a shake.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Pick up the Coca-Cola bottle and shake it.", + "Pick the Coca-Cola bottle, shake it with the right arm." + ], + "unseen": [ + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode247.json b/shake_bottle/ur5_randomized_500/instructions/episode247.json new file mode 100644 index 0000000000000000000000000000000000000000..b58cebf30a4a54846b937f587d123f914d80364f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode247.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with yellow cap using the right arm after grabbing.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Hold the bottle for liquids steady, then shake it.", + "Shake the bottle with printed label after grabbing it.", + "Shake the orange bottle after grabbing it.", + "Hold and shake the the plastic bottle with sealed yellow cap carefully.", + "Pick the orange cylindrical bottle and perform shaking motion.", + "Hold the medium-sized orange bottle, shake it briefly.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Lift up the orange bottle using the right arm, then shake.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Lift the cylindrical orange bottle with yellow top with the right arm and give it a shake.", + "With the right arm, pick the cylindrical orange bottle with yellow top and shake properly.", + "Grab the plastic bottle with sealed yellow cap and give it a shake.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Grab the bottle with yellow cap using the right arm, then shake.", + "Use the right arm to grab the orange cylindrical bottle and shake it.", + "Pick the orange cylindrical bottle up using the right arm and shake it.", + "Pick the bottle with narrow neck up with the right arm and shake.", + "Use the right arm to lift and shake the orange bottle.", + "Secure the orange cylindrical bottle, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with printed label.", + "Use the right arm to pick and shake the bottle for liquids.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the bottle with printed label firmly, shake it, and put it down.", + "Pick up the smooth plastic bottle and shake it well.", + "Hold the cylindrical orange bottle with yellow top and shake it properly.", + "Shake the plastic bottle with sealed yellow cap after holding it firmly.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Shake the the bottle with yellow cap properly after lifting.", + "Utilize the right arm to hold the orange bottle and shake it.", + "Grab and shake the yellow-capped plastic bottle using the right arm.", + "Lift the orange bottle with the right arm and shake.", + "Grab the bottle for liquids with the right arm and shake.", + "Shake the smooth plastic bottle after lifting it.", + "Lift the orange cylindrical bottle with the right arm and shake it.", + "Using the right arm, shake the bottle for liquids and then place it back.", + "Grip the bottle with narrow neck using the right arm and shake.", + "Grab the bottle with printed label carefully and shake.", + "Lift the yellow-capped plastic bottle and shake it thoroughly.", + "Shake the medium-sized orange bottle firmly after grabbing.", + "Grab the plastic bottle with sealed yellow cap and shake it steadily.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Lift the bottle with narrow neck and shake it gently.", + "Pick up the medium-sized orange bottle and shake it.", + "Take the cylindrical orange bottle with yellow top using the right arm and give it a shake.", + "Use the right arm to hold the orange cylindrical bottle and shake it.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Catch the bottle for liquids and shake it instantly.", + "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Secure the bottle with printed label and perform a shake.", + "Hold the orange bottle steady, then shake it.", + "Shake the medium-sized orange bottle after grabbing it.", + "Shake the bottle with printed label after grabbing it.", + "Hold and shake the the medium-sized orange bottle carefully.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Hold the smooth plastic bottle, shake it briefly.", + "Pick the cylindrical orange bottle with yellow top, shake it with the right arm.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Grab the plastic bottle and move it to shake.", + "Lift the bottle with narrow neck with the right arm and give it a shake.", + "With the right arm, pick the bottle with yellow cap and shake properly.", + "Grab the bottle for liquids and give it a shake.", + "Use the right arm to lift and shake the bottle for liquids.", + "Grab the orange cylindrical bottle using the right arm, then shake.", + "Use the right arm to grab the bottle for liquids and shake it.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Pick the orange bottle up with the right arm and shake.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Use the right arm to pick and shake the orange cylindrical bottle.", + "Shake the bottle with narrow neck after grabbing it.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Pick up the orange bottle and shake it well.", + "Hold the bottle with printed label and shake it properly.", + "Shake the bottle with yellow cap after holding it firmly.", + "Grasp the orange bottle with the right arm and shake it.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Utilize the right arm to hold the medium-sized orange bottle and shake it.", + "Grab and shake the cylindrical orange bottle with yellow top using the right arm.", + "Lift the orange bottle with the right arm and shake.", + "Grab the bottle for liquids with the right arm and shake.", + "Shake the orange cylindrical bottle after lifting it.", + "Lift the cylindrical orange bottle with yellow top with the right arm and shake it.", + "Using the right arm, shake the medium-sized orange bottle and then place it back.", + "Grip the medium-sized orange bottle using the right arm and shake.", + "Grab the orange cylindrical bottle carefully and shake.", + "Lift the bottle with narrow neck and shake it thoroughly.", + "Shake the orange bottle firmly after grabbing.", + "Grab the orange cylindrical bottle and shake it steadily.", + "Hold the plastic bottle with sealed yellow cap with the right arm and shake lightly.", + "Lift the smooth plastic bottle and shake it gently.", + "Pick up the medium-sized orange bottle and shake it.", + "Take the bottle with narrow neck using the right arm and give it a shake.", + "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Catch the yellow-capped plastic bottle and shake it instantly." + ], + "unseen": [ + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode248.json b/shake_bottle/ur5_randomized_500/instructions/episode248.json new file mode 100644 index 0000000000000000000000000000000000000000..d92e743bdf44e85ed1c0afc85e8ddb4d37f0b935 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode248.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth orange bottle thoroughly after grabbing it.", + "Grab and shake the light and medium-sized bottle using the left arm.", + "Take the grooved orange drink bottle using the left arm and give it a shake.", + "Hold the orange drink bottle with label with the left arm and shake lightly.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Pick the orange drink bottle with label up using the left arm and shake it.", + "Shake the grooved orange drink bottle after grabbing it.", + "Grip the bottle for holding drinks using the left arm and shake.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Pick up the round-bottom bottle with white cap and shake it.", + "Hold the curved orange soda bottle and shake it properly.", + "Grab the cylindrical orange plastic bottle using the left arm, then shake.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Lift the ridged orange bottle with grooves with the left arm and shake.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Grab the smooth orange bottle carefully and shake.", + "Hold the ridged orange bottle with grooves steady, then shake it.", + "Hold the plastic bottle, shake it briefly.", + "Lift the orange drink bottle with label and shake it gently.", + "Pick the bottle for holding drinks up with the left arm and shake.", + "Catch the medium bottle with colorful label and shake it instantly.", + "Shake the the plastic bottle properly after lifting.", + "Pick up the grooved orange drink bottle and shake it well.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Lift the orange drink bottle with label with the left arm and give it a shake.", + "Hold and shake the the orange drink bottle with label carefully.", + "Grab the plastic bottle with the left arm and shake.", + "Shake the bottle for holding drinks after grabbing it.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the orange drink bottle with label and move it to shake.", + "Use the left arm to grab the bottle for holding drinks and shake it.", + "Shake the round-bottom bottle with white cap after holding it firmly.", + "Use the left arm to hold the light and medium-sized bottle and shake it.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Lift up the orange bottle using the left arm, then shake.", + "Secure the bottle for holding drinks and perform a shake.", + "Using the left arm, shake the smooth orange bottle and then place it back.", + "Grasp the smooth orange bottle with the left arm and shake it.", + "Lift the medium bottle with colorful label and shake it thoroughly.", + "Shake the smooth orange bottle after grabbing it.", + "Shake the orange drink bottle with label using the left arm after grabbing.", + "Pick the grooved orange drink bottle and perform shaking motion.", + "Utilize the left arm to hold the cylindrical orange plastic bottle and shake it.", + "With the left arm, pick the medium bottle with colorful label and shake properly.", + "Pick the medium bottle with colorful label, shake it with the left arm.", + "Grab the light and medium-sized bottle and shake it steadily.", + "Lift the plastic bottle with the left arm and shake it.", + "Grab the curved orange soda bottle and give it a shake.", + "Use the left arm to grab the orange drink bottle with label and shake properly.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Grab and shake the light and medium-sized bottle using the left arm.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold the orange drink bottle with label with the left arm and shake lightly.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Pick the ridged orange bottle with grooves up using the left arm and shake it.", + "Shake the orange bottle after grabbing it.", + "Grip the cylindrical orange plastic bottle using the left arm and shake.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Pick up the medium bottle with colorful label and shake it.", + "Hold the orange drink bottle with label and shake it properly.", + "Grab the ridged orange bottle with grooves using the left arm, then shake.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Lift the curved orange soda bottle with the left arm and shake.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Grab the smooth orange bottle carefully and shake.", + "Hold the curved orange soda bottle steady, then shake it.", + "Hold the plastic bottle, shake it briefly.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "Pick the orange drink bottle with label up with the left arm and shake.", + "Catch the curved orange soda bottle and shake it instantly.", + "Shake the the curved orange soda bottle properly after lifting.", + "Pick up the grooved orange drink bottle and shake it well.", + "Shake the smooth orange bottle after lifting it.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Lift the light and medium-sized bottle with the left arm and give it a shake.", + "Hold and shake the the orange bottle carefully.", + "Grab the grooved orange drink bottle with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to pick and shake the cylindrical orange plastic bottle.", + "Grab the light and medium-sized bottle and move it to shake.", + "Use the left arm to grab the medium bottle with colorful label and shake it.", + "Shake the ridged orange bottle with grooves after holding it firmly.", + "Use the left arm to hold the light and medium-sized bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift up the orange drink bottle with label using the left arm, then shake.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Using the left arm, shake the cylindrical orange plastic bottle and then place it back.", + "Grasp the curved orange soda bottle with the left arm and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Shake the light and medium-sized bottle using the left arm after grabbing.", + "Pick the grooved orange drink bottle and perform shaking motion.", + "Utilize the left arm to hold the medium bottle with colorful label and shake it.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Pick the light and medium-sized bottle, shake it with the left arm.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Lift the grooved orange drink bottle with the left arm and shake it.", + "Grab the orange bottle and give it a shake.", + "Use the left arm to grab the grooved orange drink bottle and shake properly." + ], + "unseen": [ + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode249.json b/shake_bottle/ur5_randomized_500/instructions/episode249.json new file mode 100644 index 0000000000000000000000000000000000000000..a5cb400b9b6375a554f82b11866ee30ecb8d24d8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode249.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the gray bottle with slight shine after grabbing it.", + "Shake the plastic bottle with ghost print after holding it firmly.", + "Lift up the light gray colored container bottle using the left arm, then shake.", + "Lift the milk-bottle shape design and shake it thoroughly.", + "Grab the medium-sized plastic bottle firmly, shake it, and put it down.", + "Shake the smooth cylindrical bottle after lifting it.", + "Pick up the hand-sized bottle with screw cap and shake it.", + "Grab the bottle with cute ghost drawing and give it a shake.", + "Pick the plastic bottle with ghost print up using the left arm and shake it.", + "Using the left arm, shake the medium-sized plastic bottle and then place it back.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Grab the medium cylinder-shaped bottle with the left arm and shake.", + "Use the left arm to grab the light gray colored container bottle and shake properly.", + "Pick the smooth cylindrical bottle up with the left arm and shake.", + "Hold the medium cylinder-shaped bottle steady, then shake it.", + "Grab the bottle shaped like small cylinder and shake it steadily.", + "Shake the medium cylinder-shaped bottle thoroughly after grabbing it.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Grip the medium cylinder-shaped bottle using the left arm and shake.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Grab and shake the plastic bottle with ghost print using the left arm.", + "Use the left arm to lift and shake the smooth cylindrical bottle.", + "Lift the bottle shaped like small cylinder with the left arm and give it a shake.", + "Hold the light gray colored container bottle with the left arm and shake lightly.", + "With the left arm, pick the gray bottle with slight shine and shake properly.", + "Take the hand-sized bottle with screw cap using the left arm and give it a shake.", + "Shake the bottle shaped like small cylinder firmly after grabbing.", + "Use the left arm to pick and shake the smooth cylindrical bottle.", + "Pick the plastic bottle with ghost print, shake it with the left arm.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Lift the medium cylinder-shaped bottle with the left arm and shake it.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Shake the the milk-bottle shape design properly after lifting.", + "Grab the bottle shaped like small cylinder using the left arm, then shake.", + "Secure the smooth cylindrical bottle, shake it, and place it down.", + "Hold the rounded body bottle made of plastic and shake it properly.", + "Shake the plastic bottle with ghost print using the left arm after grabbing.", + "Pick up the bottle with cute ghost drawing and shake it well.", + "Grab the gray bottle with slight shine and move it to shake.", + "Secure the gray bottle with slight shine and perform a shake.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Lift the medium cylinder-shaped bottle with the left arm and shake.", + "Use the left arm to hold the medium cylinder-shaped bottle and shake it.", + "Utilize the left arm to hold the gray bottle with slight shine and shake it.", + "Hold and shake the the light gray colored container bottle carefully.", + "Pick the medium cylinder-shaped bottle and perform shaking motion.", + "Use the left arm to grab the smooth cylindrical bottle and shake it.", + "Grasp the smooth cylindrical bottle with the left arm and shake it.", + "Lift the hand-sized bottle with screw cap and shake it gently.", + "Shake the light gray colored container bottle after grabbing it.", + "Shake the milk-bottle shape design after grabbing it.", + "Shake the hand-sized bottle with screw cap after holding it firmly.", + "Lift up the plastic bottle with ghost print using the left arm, then shake.", + "Lift the hand-sized bottle with screw cap and shake it thoroughly.", + "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.", + "Shake the hand-sized bottle with screw cap after lifting it.", + "Pick up the milk-bottle shape design and shake it.", + "Grab the bottle shaped like small cylinder and give it a shake.", + "Pick the rounded body bottle made of plastic up using the left arm and shake it.", + "Using the left arm, shake the gray bottle with slight shine and then place it back.", + "Use the left arm to lift and shake the hand-sized bottle with screw cap.", + "Grab the smooth surface bottle with gray shade with the left arm and shake.", + "Use the left arm to grab the bottle with cute ghost drawing and shake properly.", + "Pick the milk-bottle shape design up with the left arm and shake.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Grab the smooth surface bottle with gray shade and shake it steadily.", + "Shake the hand-sized bottle with screw cap thoroughly after grabbing it.", + "Catch the medium cylinder-shaped bottle and shake it instantly.", + "Grip the rounded body bottle made of plastic using the left arm and shake.", + "Hold the light gray colored container bottle, shake it briefly.", + "Grab and shake the bottle shaped like small cylinder using the left arm.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "Lift the plastic bottle with ghost print with the left arm and give it a shake.", + "Hold the bottle shaped like small cylinder with the left arm and shake lightly.", + "With the left arm, pick the smooth surface bottle with gray shade and shake properly.", + "Take the gray bottle with slight shine using the left arm and give it a shake.", + "Shake the plastic bottle with ghost print firmly after grabbing.", + "Use the left arm to pick and shake the bottle shaped like small cylinder.", + "Pick the plastic bottle with ghost print, shake it with the left arm.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Lift the rounded body bottle made of plastic with the left arm and shake it.", + "Shake the plastic bottle with ghost print after grabbing it.", + "Shake the the bottle with cute ghost drawing properly after lifting.", + "Grab the bottle shaped like small cylinder using the left arm, then shake.", + "Secure the plastic bottle with ghost print, shake it, and place it down.", + "Hold the medium-sized plastic bottle and shake it properly.", + "Shake the medium-sized plastic bottle using the left arm after grabbing.", + "Pick up the smooth surface bottle with gray shade and shake it well.", + "Grab the smooth cylindrical bottle and move it to shake.", + "Secure the hand-sized bottle with screw cap and perform a shake.", + "Grab the milk-bottle shape design carefully and shake.", + "Lift the smooth cylindrical bottle with the left arm and shake.", + "Use the left arm to hold the plastic bottle with ghost print and shake it.", + "Utilize the left arm to hold the smooth cylindrical bottle and shake it.", + "Hold and shake the the smooth cylindrical bottle carefully.", + "Pick the plastic bottle with ghost print and perform shaking motion.", + "Use the left arm to grab the bottle shaped like small cylinder and shake it.", + "Grasp the smooth surface bottle with gray shade with the left arm and shake it.", + "Lift the gray bottle with slight shine and shake it gently.", + "Shake the milk-bottle shape design after grabbing it." + ], + "unseen": [ + "Grab the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Use the left arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Use the left arm to pick the light gray bottle.", + "Grab the light gray bottle and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode25.json b/shake_bottle/ur5_randomized_500/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..14a72aa1145e340ea52dfa5060922e058a16151d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium-sized plastic bottle using the left arm after grabbing.", + "Pick the plastic bottle with ghost print up using the left arm and shake it.", + "Hold the bottle with cute ghost drawing and shake it properly.", + "Grasp the hand-sized bottle with screw cap with the left arm and shake it.", + "Use the left arm to grab the milk-bottle shape design and shake it.", + "Use the left arm to lift and shake the milk-bottle shape design.", + "Grab the medium-sized plastic bottle carefully and shake.", + "Using the left arm, shake the plastic bottle with ghost print and then place it back.", + "Pick the gray bottle with slight shine up with the left arm and shake.", + "Use the left arm to grab the rounded body bottle made of plastic and shake properly.", + "Grip the light gray colored container bottle using the left arm and shake.", + "Grab the plastic bottle with ghost print and move it to shake.", + "Use the left arm to lift and shake the bottle with cute ghost drawing.", + "Pick up the rounded body bottle made of plastic and shake it well.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Secure the bottle with cute ghost drawing, shake it, and place it down.", + "Utilize the left arm to hold the light gray colored container bottle and shake it.", + "Hold and shake the the plastic bottle with ghost print carefully.", + "Lift up the medium cylinder-shaped bottle using the left arm, then shake.", + "Take the gray bottle with slight shine using the left arm and give it a shake.", + "Lift the smooth cylindrical bottle and shake it thoroughly.", + "Pick up the smooth cylindrical bottle and shake it.", + "Grab the bottle shaped like small cylinder and give it a shake.", + "Pick the bottle with cute ghost drawing, shake it with the left arm.", + "With the left arm, pick the hand-sized bottle with screw cap and shake properly.", + "Grab the milk-bottle shape design using the left arm, then shake.", + "Use the left arm to lift and shake the medium-sized plastic bottle.", + "Shake the light gray colored container bottle after grabbing it.", + "Hold the medium cylinder-shaped bottle with the left arm and shake lightly.", + "Shake the bottle shaped like small cylinder after lifting it.", + "Lift the medium cylinder-shaped bottle with the left arm and give it a shake.", + "Lift the hand-sized bottle with screw cap with the left arm and shake it.", + "Use the left arm to hold the medium cylinder-shaped bottle and shake it.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Shake the light gray colored container bottle firmly after grabbing.", + "Shake the medium cylinder-shaped bottle thoroughly after grabbing it.", + "Shake the the gray bottle with slight shine properly after lifting.", + "Secure the rounded body bottle made of plastic and perform a shake.", + "Lift the gray bottle with slight shine with the left arm and shake.", + "Grab the gray bottle with slight shine and shake it steadily.", + "Lift the plastic bottle with ghost print and shake it gently.", + "Use the left arm to pick and shake the smooth cylindrical bottle.", + "Grab the hand-sized bottle with screw cap firmly, shake it, and put it down.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Catch the rounded body bottle made of plastic and shake it instantly.", + "Grab and shake the smooth surface bottle with gray shade using the left arm.", + "Shake the medium cylinder-shaped bottle after holding it firmly.", + "Grab the light gray colored container bottle with the left arm and shake.", + "Hold the smooth surface bottle with gray shade steady, then shake it.", + "Pick the plastic bottle with ghost print and perform shaking motion.", + "Shake the milk-bottle shape design using the left arm after grabbing.", + "Pick the milk-bottle shape design up using the left arm and shake it.", + "Hold the medium-sized plastic bottle and shake it properly.", + "Grasp the medium-sized plastic bottle with the left arm and shake it.", + "Use the left arm to grab the plastic bottle with ghost print and shake it.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Grab the gray bottle with slight shine carefully and shake.", + "Using the left arm, shake the medium cylinder-shaped bottle and then place it back.", + "Pick the bottle shaped like small cylinder up with the left arm and shake.", + "Use the left arm to grab the gray bottle with slight shine and shake properly.", + "Grip the light gray colored container bottle using the left arm and shake.", + "Grab the smooth surface bottle with gray shade and move it to shake.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Pick up the smooth surface bottle with gray shade and shake it well.", + "Hold the light gray colored container bottle, shake it briefly.", + "Secure the medium-sized plastic bottle, shake it, and place it down.", + "Utilize the left arm to hold the bottle shaped like small cylinder and shake it.", + "Hold and shake the the plastic bottle with ghost print carefully.", + "Lift up the milk-bottle shape design using the left arm, then shake.", + "Take the smooth surface bottle with gray shade using the left arm and give it a shake.", + "Lift the bottle shaped like small cylinder and shake it thoroughly.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Grab the bottle shaped like small cylinder and give it a shake.", + "Pick the bottle shaped like small cylinder, shake it with the left arm.", + "With the left arm, pick the light gray colored container bottle and shake properly.", + "Grab the plastic bottle with ghost print using the left arm, then shake.", + "Use the left arm to lift and shake the smooth surface bottle with gray shade.", + "Shake the smooth cylindrical bottle after grabbing it.", + "Hold the rounded body bottle made of plastic with the left arm and shake lightly.", + "Shake the medium cylinder-shaped bottle after lifting it.", + "Lift the plastic bottle with ghost print with the left arm and give it a shake.", + "Lift the bottle with cute ghost drawing with the left arm and shake it.", + "Use the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Shake the smooth surface bottle with gray shade firmly after grabbing.", + "Shake the medium-sized plastic bottle thoroughly after grabbing it.", + "Shake the the medium-sized plastic bottle properly after lifting.", + "Secure the smooth cylindrical bottle and perform a shake.", + "Lift the smooth cylindrical bottle with the left arm and shake.", + "Grab the smooth surface bottle with gray shade and shake it steadily.", + "Lift the smooth surface bottle with gray shade and shake it gently.", + "Use the left arm to pick and shake the smooth surface bottle with gray shade.", + "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Catch the bottle with cute ghost drawing and shake it instantly.", + "Grab and shake the milk-bottle shape design using the left arm.", + "Shake the gray bottle with slight shine after holding it firmly.", + "Grab the bottle with cute ghost drawing with the left arm and shake.", + "Hold the bottle shaped like small cylinder steady, then shake it.", + "Pick the gray bottle with slight shine and perform shaking motion." + ], + "unseen": [ + "Use the left arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the light gray bottle and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Grab the light gray bottle and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the light gray bottle and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Grab the light gray bottle and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the light gray bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode250.json b/shake_bottle/ur5_randomized_500/instructions/episode250.json new file mode 100644 index 0000000000000000000000000000000000000000..21a9398967b3de9b652565ed98eaaa07a7522a17 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode250.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with white cap and shake it gently.", + "Lift the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Pick the yellow bottle with cylindrical cap up using the left arm and shake it.", + "Use the left arm to grab the yellow bottle with cylindrical cap and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Use the left arm to hold the bottle with green and white label and shake it.", + "Grab and shake the bottle with green and white label using the left arm.", + "Pick the plastic bottle up with the left arm and shake.", + "Pick up the smooth yellow plastic bottle and shake it well.", + "Use the left arm to lift and shake the yellow bottle with cylindrical cap.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Shake the bottle with white cap after lifting it.", + "Grab the bottle with white cap with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Secure the plastic bottle and perform a shake.", + "Use the left arm to grab the yellow bottle with green label and shake properly.", + "With the left arm, pick the handheld bottle and shake properly.", + "Shake the yellow bottle with cylindrical cap using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle for liquids.", + "Grab the handheld bottle carefully and shake.", + "Lift the yellow bottle with flower design and shake it thoroughly.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift the yellow bottle with green label with the left arm and give it a shake.", + "Hold the yellow bottle with cylindrical cap, shake it briefly.", + "Pick up the yellow bottle and shake it.", + "Shake the yellow bottle after grabbing it.", + "Hold and shake the the yellow body bottle carefully.", + "Hold the yellow body bottle and shake it properly.", + "Shake the yellow bottle with cylindrical cap thoroughly after grabbing it.", + "Secure the bottle with green and white label, shake it, and place it down.", + "Shake the the yellow body bottle properly after lifting.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Grab the yellow bottle with cylindrical cap using the left arm, then shake.", + "Shake the handheld bottle after grabbing it.", + "Utilize the left arm to hold the yellow body bottle and shake it.", + "Catch the yellow bottle with flower design and shake it instantly.", + "Grab the rectangular bottle and shake it steadily.", + "Shake the rectangular bottle firmly after grabbing.", + "Pick the rectangular bottle, shake it with the left arm.", + "Lift the bottle for liquids with the left arm and shake it.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Use the left arm to pick and shake the bottle for liquids.", + "Shake the yellow bottle with flower design after holding it firmly.", + "Pick the bottle with green and white label and perform shaking motion.", + "Grasp the yellow bottle with the left arm and shake it.", + "Grab the yellow bottle and give it a shake.", + "Grip the handheld bottle using the left arm and shake.", + "Grab the rectangular bottle and move it to shake.", + "Lift the smooth yellow plastic bottle and shake it gently.", + "Lift the yellow body bottle with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Hold the yellow bottle with flower design steady, then shake it.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Grab and shake the yellow bottle using the left arm.", + "Pick the handheld bottle up with the left arm and shake.", + "Pick up the yellow bottle with flower design and shake it well.", + "Use the left arm to lift and shake the yellow bottle with cylindrical cap.", + "Lift up the rectangular bottle using the left arm, then shake.", + "Shake the handheld bottle after lifting it.", + "Grab the bottle for liquids with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Secure the rectangular bottle and perform a shake.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "With the left arm, pick the handheld bottle and shake properly.", + "Shake the bottle with green and white label using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with green and white label.", + "Grab the yellow body bottle carefully and shake.", + "Lift the smooth yellow plastic bottle and shake it thoroughly.", + "Using the left arm, shake the bottle with green and white label and then place it back.", + "Lift the smooth yellow plastic bottle with the left arm and give it a shake.", + "Hold the yellow body bottle, shake it briefly.", + "Pick up the yellow bottle and shake it.", + "Shake the bottle for liquids after grabbing it.", + "Hold and shake the the bottle for liquids carefully.", + "Hold the yellow bottle with green label and shake it properly.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the the bottle with white cap properly after lifting.", + "Hold the yellow bottle with flower design with the left arm and shake lightly.", + "Grab the bottle with white cap using the left arm, then shake.", + "Shake the rectangular bottle after grabbing it.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Catch the smooth yellow plastic bottle and shake it instantly.", + "Grab the bottle for liquids and shake it steadily.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the handheld bottle, shake it with the left arm.", + "Lift the handheld bottle with the left arm and shake it.", + "Take the yellow bottle with flower design using the left arm and give it a shake.", + "Use the left arm to pick and shake the yellow bottle.", + "Shake the yellow bottle after holding it firmly.", + "Pick the rectangular bottle and perform shaking motion.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Grab the bottle for liquids and give it a shake.", + "Grip the yellow bottle using the left arm and shake.", + "Grab the yellow body bottle and move it to shake." + ], + "unseen": [ + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Use the left arm to grab the medium bottle and shake.", + "Use the left arm to pick the bottle with printed label.", + "Grab the bottle with printed label and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Grab the medium bottle and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the medium bottle after picking it with the left arm.", + "Use the left arm to grab the medium bottle and shake.", + "Use the left arm to pick the medium bottle.", + "Grab the medium bottle and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the medium bottle after picking it with the left arm.", + "Use the left arm to grab the medium bottle and shake.", + "Use the left arm to pick the bottle with printed label.", + "Grab the bottle with printed label and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with printed label with the left arm and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the medium bottle.", + "Grab the bottle with printed label and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with printed label with the left arm and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and give it a shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Use the left arm to pick the medium bottle.", + "Grab the medium bottle and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with printed label with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Grab the bottle with printed label and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to grab the bottle with printed label and shake.", + "Use the left arm to pick the bottle with printed label.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with rounded edges and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode251.json b/shake_bottle/ur5_randomized_500/instructions/episode251.json new file mode 100644 index 0000000000000000000000000000000000000000..e5ea339a28a66898dc67e014aff63a7b422aa57a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode251.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with the left arm and give it a shake.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the left arm to pick and shake the bottle with white printed label.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Lift the smooth green bottle with the left arm and shake.", + "Grab the medium-sized green bottle carefully and shake.", + "Pick up the handheld green bottle and shake it.", + "Grab the handheld green bottle and move it to shake.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Lift the bottle with rounded neck and shake it gently.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Grab the green bottle with indented base and shake it steadily.", + "Pick up the smooth green bottle and shake it well.", + "Hold the bottle with rounded neck, shake it briefly.", + "Shake the the bottle with narrow top properly after lifting.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Grip the handheld green bottle using the left arm and shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Lift up the medium green bottle using the left arm, then shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Shake the bottle with ridges near base after grabbing it.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Shake the green bottle with indented base after holding it firmly.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Grab the plastic bottle and give it a shake.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick the handheld green bottle and perform shaking motion.", + "Hold the plastic bottle steady, then shake it.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Hold the bottle with narrow top and shake it properly.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to pick and shake the medium green bottle.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Grab the smooth green bottle with the left arm and shake.", + "Pick the medium green bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grab the bottle with rounded neck carefully and shake.", + "Pick up the medium-sized green bottle and shake it.", + "Grab the medium green bottle and move it to shake.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Lift the smooth green bottle with the left arm and shake it.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Grab the bottle with rounded neck and shake it steadily.", + "Pick up the bottle with rounded neck and shake it well.", + "Hold the medium green bottle, shake it briefly.", + "Shake the the medium green bottle properly after lifting.", + "Pick the handheld green bottle, shake it with the left arm.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Shake the medium-sized green bottle after lifting it.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Catch the medium-sized green bottle and shake it instantly.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Shake the bottle with ridges near base after grabbing it.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Secure the smooth green bottle and perform a shake.", + "Shake the smooth green bottle after grabbing it.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Hold the smooth green bottle steady, then shake it.", + "Lift the medium green bottle and shake it thoroughly.", + "Hold the bottle with ridges near base and shake it properly." + ], + "unseen": [ + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode252.json b/shake_bottle/ur5_randomized_500/instructions/episode252.json new file mode 100644 index 0000000000000000000000000000000000000000..b09284874d2d5903bc8927542959a22628e56de6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode252.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the black plastic bottle with Pepsi logo and shake it well.", + "Grab the black cylindrical bottle with ridges and move it to shake.", + "Pick the smooth black bottle with ridges, shake it with the right arm.", + "Lift up the black bottle using the right arm, then shake.", + "Pick up the plastic bottle with colorful label and shake it.", + "With the right arm, pick the plastic bottle with colorful label and shake properly.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Use the right arm to grab the smooth black bottle with ridges and shake properly.", + "Grasp the bottle with blue and yellow print with the right arm and shake it.", + "Lift the plastic bottle with colorful label with the right arm and shake.", + "Shake the bottle with blue and yellow print after holding it firmly.", + "Use the right arm to lift and shake the yellow capped drink bottle.", + "Grip the bottle with blue and yellow print using the right arm and shake.", + "Grab the plastic bottle with colorful label carefully and shake.", + "Secure the black bottle and perform a shake.", + "Shake the smooth black bottle with ridges using the right arm after grabbing.", + "Use the right arm to pick and shake the black cylindrical bottle with ridges.", + "Utilize the right arm to hold the black bottle and shake it.", + "Pick the black cylindrical bottle with ridges up using the right arm and shake it.", + "Hold the black cylindrical bottle with ridges, shake it briefly.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Grab and shake the medium black bottle with printed label using the right arm.", + "Lift the black bottle with the right arm and give it a shake.", + "Use the right arm to hold the black cylindrical bottle with ridges and shake it.", + "Pick the smooth black bottle with ridges up with the right arm and shake.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Grab the black cylindrical bottle with ridges with the right arm and shake.", + "Lift the beverage bottle with black body with the right arm and shake it.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.", + "Using the right arm, shake the medium black bottle with printed label and then place it back.", + "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.", + "Hold the black bottle and shake it properly.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Shake the medium black bottle with printed label after grabbing it.", + "Use the right arm to grab the medium black bottle with printed label and shake it.", + "Shake the plastic bottle with colorful label after lifting it.", + "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Pick the black plastic bottle with Pepsi logo and perform shaking motion.", + "Catch the medium bottle with yellow cap and shake it instantly.", + "Take the black bottle using the right arm and give it a shake.", + "Secure the black cylindrical bottle with ridges, shake it, and place it down.", + "Lift the black cylindrical bottle with ridges and shake it gently.", + "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Grab the medium black bottle with printed label and shake it steadily.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Hold the beverage bottle with black body steady, then shake it.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Pick up the medium black bottle with printed label and shake it well.", + "Grab the medium bottle with yellow cap and move it to shake.", + "Pick the yellow capped drink bottle, shake it with the right arm.", + "Lift up the black plastic bottle with Pepsi logo using the right arm, then shake.", + "Pick up the black plastic bottle with Pepsi logo and shake it.", + "With the right arm, pick the medium black bottle with printed label and shake properly.", + "Shake the the plastic bottle with colorful label properly after lifting.", + "Use the right arm to grab the plastic bottle with colorful label and shake properly.", + "Grasp the black bottle with the right arm and shake it.", + "Lift the bottle with blue and yellow print with the right arm and shake.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Use the right arm to lift and shake the medium black bottle with printed label.", + "Grip the black plastic bottle with Pepsi logo using the right arm and shake.", + "Grab the beverage bottle with black body carefully and shake.", + "Secure the medium bottle with yellow cap and perform a shake.", + "Shake the medium black bottle with printed label using the right arm after grabbing.", + "Use the right arm to pick and shake the smooth black bottle with ridges.", + "Utilize the right arm to hold the yellow-capped cylindrical bottle and shake it.", + "Pick the yellow capped drink bottle up using the right arm and shake it.", + "Hold the medium black bottle with printed label, shake it briefly.", + "Hold and shake the the yellow capped drink bottle carefully.", + "Grab and shake the black bottle using the right arm.", + "Lift the yellow capped drink bottle with the right arm and give it a shake.", + "Use the right arm to hold the smooth black bottle with ridges and shake it.", + "Pick the black bottle up with the right arm and shake.", + "Shake the black bottle after grabbing it.", + "Grab the black plastic bottle with Pepsi logo with the right arm and shake.", + "Lift the medium black bottle with printed label with the right arm and shake it.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.", + "Using the right arm, shake the plastic bottle with colorful label and then place it back.", + "Shake the medium bottle with yellow cap thoroughly after grabbing it.", + "Hold the medium black bottle with printed label and shake it properly.", + "Use the right arm to lift and shake the black bottle.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Use the right arm to grab the beverage bottle with black body and shake it.", + "Shake the black cylindrical bottle with ridges after lifting it.", + "Use the right arm to lift and shake the medium bottle with yellow cap.", + "Grab the yellow capped drink bottle firmly, shake it, and put it down.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Catch the yellow capped drink bottle and shake it instantly.", + "Take the black cylindrical bottle with ridges using the right arm and give it a shake.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Lift the yellow-capped cylindrical bottle and shake it gently.", + "Hold the black bottle with the right arm and shake lightly.", + "Lift the medium black bottle with printed label and shake it thoroughly.", + "Grab the black cylindrical bottle with ridges and shake it steadily.", + "Shake the black bottle after grabbing it.", + "Hold the smooth black bottle with ridges steady, then shake it.", + "Shake the medium bottle with yellow cap firmly after grabbing." + ], + "unseen": [ + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode253.json b/shake_bottle/ur5_randomized_500/instructions/episode253.json new file mode 100644 index 0000000000000000000000000000000000000000..8ceb7caf4e5fd7f01ea9036758a98d16f4e3b356 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode253.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow bottle with a green design and move it to shake.", + "Use the left arm to pick and shake the yellow bottle with a green design.", + "Use the left arm to grab the bottle with a smooth plastic body and shake properly.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Pick up the yellow container with rounded edges and shake it well.", + "Lift the yellow bottle with a green design and shake it gently.", + "Pick up the yellow bottle with a green design and shake it.", + "Lift the medium rectangular yellow bottle with the left arm and shake it.", + "Using the left arm, shake the medium rectangular yellow bottle and then place it back.", + "Pick the medium rectangular yellow bottle, shake it with the left arm.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Pick the smooth bottle with rounded edges up using the left arm and shake it.", + "Grab and shake the bottle with green and white labels using the left arm.", + "Grip the plastic bottle using the left arm and shake.", + "Shake the bottle with green label after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Shake the yellow bottle after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "Utilize the left arm to hold the yellow container with rounded edges and shake it.", + "Use the left arm to hold the medium rectangular yellow bottle and shake it.", + "Hold the yellow bottle with a green design with the left arm and shake lightly.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Pick the bottle with a smooth plastic body and perform shaking motion.", + "Secure the bottle with green label and perform a shake.", + "Lift the bottle with white cap with the left arm and shake.", + "Catch the yellow container with rounded edges and shake it instantly.", + "Lift the medium rectangular yellow bottle with the left arm and give it a shake.", + "Grab the bottle with green and white labels with the left arm and shake.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Hold the yellow container with rounded edges and shake it properly.", + "Shake the bottle with green label thoroughly after grabbing it.", + "Shake the bottle with green label firmly after grabbing.", + "Hold the bottle with green label steady, then shake it.", + "Pick the rectangular bottle with cylindrical neck up with the left arm and shake.", + "Grab the bottle with green label carefully and shake.", + "Lift the bottle with green label and shake it thoroughly.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Grab the medium rectangular yellow bottle using the left arm, then shake.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Shake the yellow bottle with a green design after lifting it.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.", + "Lift up the rectangular bottle with cylindrical neck using the left arm, then shake.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Shake the smooth bottle with rounded edges using the left arm after grabbing.", + "Grab the plastic bottle and give it a shake.", + "Take the smooth bottle with rounded edges using the left arm and give it a shake.", + "Grasp the yellow plastic bottle with white top with the left arm and shake it.", + "Use the left arm to grab the yellow container with rounded edges and shake it.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Grab the yellow bottle with a green design and move it to shake.", + "Use the left arm to pick and shake the plastic bottle.", + "Use the left arm to grab the bottle with green label and shake properly.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Pick up the plastic bottle and shake it well.", + "Lift the bottle with green label and shake it gently.", + "Pick up the bottle with green and white labels and shake it.", + "Lift the medium rectangular yellow bottle with the left arm and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick the yellow container with rounded edges, shake it with the left arm.", + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Pick the yellow bottle with a green design up using the left arm and shake it.", + "Grab and shake the bottle with green and white labels using the left arm.", + "Grip the medium rectangular yellow bottle using the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Shake the bottle with white cap after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "Utilize the left arm to hold the yellow bottle with a green design and shake it.", + "Use the left arm to hold the yellow bottle and shake it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the yellow container with rounded edges after grabbing it.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Lift the smooth bottle with rounded edges with the left arm and shake.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Lift the smooth bottle with rounded edges with the left arm and give it a shake.", + "Grab the bottle with green and white labels with the left arm and shake.", + "Secure the bottle with green label, shake it, and place it down.", + "Hold the bottle with green and white labels and shake it properly.", + "Shake the yellow container with rounded edges thoroughly after grabbing it.", + "Shake the smooth bottle with rounded edges firmly after grabbing.", + "Hold the bottle with white cap steady, then shake it.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Lift the bottle with green label and shake it thoroughly.", + "With the left arm, pick the bottle with green and white labels and shake properly.", + "Grab the yellow bottle using the left arm, then shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Shake the bottle with green label after lifting it.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Lift up the yellow plastic bottle with white top using the left arm, then shake.", + "Hold the bottle with green label, shake it briefly.", + "Shake the bottle with green label using the left arm after grabbing.", + "Grab the bottle with green label and give it a shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Hold and shake the the yellow plastic bottle with white top carefully." + ], + "unseen": [ + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode254.json b/shake_bottle/ur5_randomized_500/instructions/episode254.json new file mode 100644 index 0000000000000000000000000000000000000000..a0a2ffbb1f423eb2fa1fabc9803fff5c1457f8a9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode254.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cylindrical bottle, shake it briefly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the white bottle with blue accents with the right arm and shake.", + "Hold and shake the the handheld bottle carefully.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Grab the smooth plastic bottle and give it a shake.", + "Grab the white bottle with blue accents and shake it steadily.", + "Shake the bottle for liquids after holding it firmly.", + "Use the right arm to pick and shake the blue bottle with label.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Shake the white bottle with blue accents thoroughly after grabbing it.", + "Pick up the medium bottle for beverages and shake it well.", + "Pick the medium-sized bottle up using the right arm and shake it.", + "Shake the bottle with blue cap after grabbing it.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Shake the medium-sized bottle after grabbing it.", + "Utilize the right arm to hold the blue bottle and shake it.", + "Hold the white and blue bottle with the right arm and shake lightly.", + "Use the right arm to grab the white and blue bottle and shake it.", + "Shake the cylindrical bottle after lifting it.", + "Grab the bottle for liquids and move it to shake.", + "Shake the medium bottle for beverages after grabbing it.", + "With the right arm, pick the handheld bottle and shake properly.", + "Grab and shake the cylindrical bottle using the right arm.", + "Hold the medium-sized bottle and shake it properly.", + "Use the right arm to grab the bottle with blue cap and shake properly.", + "Shake the medium bottle for beverages using the right arm after grabbing.", + "Grasp the bottle with blue cap with the right arm and shake it.", + "Shake the blue bottle with label firmly after grabbing.", + "Grab the smooth plastic bottle carefully and shake.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Lift the blue bottle with the right arm and give it a shake.", + "Use the right arm to hold the handheld bottle and shake it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Using the right arm, shake the medium-sized bottle and then place it back.", + "Use the right arm to lift and shake the bottle for liquids.", + "Use the right arm to lift and shake the white bottle with blue accents.", + "Take the handheld bottle using the right arm and give it a shake.", + "Catch the handheld bottle and shake it instantly.", + "Pick the bottle with blue cap up with the right arm and shake.", + "Pick up the blue bottle and shake it.", + "Grab the white bottle with blue accents using the right arm, then shake.", + "Shake the the bottle with blue cap properly after lifting.", + "Lift the white bottle with blue accents with the right arm and shake it.", + "Hold the blue bottle steady, then shake it.", + "Grip the blue bottle with label using the right arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Secure the medium-sized bottle and perform a shake.", + "Lift up the handheld bottle using the right arm, then shake.", + "Pick the cylindrical bottle and perform shaking motion.", + "Hold the medium-sized bottle, shake it briefly.", + "Grab the bottle with blue cap firmly, shake it, and put it down.", + "Grab the plastic bottle with the right arm and shake.", + "Hold and shake the the white and blue bottle carefully.", + "Secure the bottle for liquids, shake it, and place it down.", + "Grab the medium bottle for beverages and give it a shake.", + "Grab the blue bottle with label and shake it steadily.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to pick and shake the plastic bottle.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Pick up the white bottle with blue accents and shake it well.", + "Pick the medium-sized bottle up using the right arm and shake it.", + "Shake the cylindrical bottle after grabbing it.", + "Pick the blue bottle, shake it with the right arm.", + "Shake the bottle for liquids after grabbing it.", + "Utilize the right arm to hold the white and blue bottle and shake it.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Use the right arm to grab the bottle with blue cap and shake it.", + "Shake the bottle with blue cap after lifting it.", + "Grab the medium-sized bottle and move it to shake.", + "Shake the blue bottle after grabbing it.", + "With the right arm, pick the cylindrical bottle and shake properly.", + "Grab and shake the blue bottle with label using the right arm.", + "Hold the bottle with blue cap and shake it properly.", + "Use the right arm to grab the handheld bottle and shake properly.", + "Shake the blue bottle with label using the right arm after grabbing.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Shake the cylindrical bottle firmly after grabbing.", + "Grab the blue bottle with label carefully and shake.", + "Lift the white and blue bottle with the right arm and shake.", + "Lift the blue bottle with the right arm and give it a shake.", + "Use the right arm to hold the cylindrical bottle and shake it.", + "Lift the handheld bottle and shake it thoroughly.", + "Using the right arm, shake the handheld bottle and then place it back.", + "Use the right arm to lift and shake the blue bottle.", + "Use the right arm to lift and shake the medium bottle for beverages.", + "Take the bottle with blue cap using the right arm and give it a shake.", + "Catch the medium-sized bottle and shake it instantly.", + "Pick the blue bottle with label up with the right arm and shake.", + "Pick up the bottle for liquids and shake it.", + "Grab the plastic bottle using the right arm, then shake.", + "Shake the the blue bottle properly after lifting.", + "Lift the plastic bottle with the right arm and shake it.", + "Hold the blue bottle steady, then shake it.", + "Grip the blue bottle with label using the right arm and shake.", + "Lift the smooth plastic bottle and shake it gently.", + "Secure the cylindrical bottle and perform a shake.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Pick the bottle with blue cap and perform shaking motion." + ], + "unseen": [ + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode255.json b/shake_bottle/ur5_randomized_500/instructions/episode255.json new file mode 100644 index 0000000000000000000000000000000000000000..ad323605711c63d78045c07498a8257d3720bf20 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode255.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the hand-sized bottle with screw cap with the right arm and shake it.", + "Use the right arm to grab the bottle with cute ghost drawing and shake it.", + "Shake the smooth surface bottle with gray shade after lifting it.", + "Grab the milk-bottle shape design and move it to shake.", + "Lift the smooth cylindrical bottle with the right arm and give it a shake.", + "Use the right arm to pick and shake the smooth cylindrical bottle.", + "Lift up the hand-sized bottle with screw cap using the right arm, then shake.", + "Pick up the bottle with cute ghost drawing and shake it well.", + "Grab and shake the bottle shaped like small cylinder using the right arm.", + "Utilize the right arm to hold the smooth surface bottle with gray shade and shake it.", + "Hold the medium-sized plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the rounded body bottle made of plastic.", + "Grab the light gray colored container bottle firmly, shake it, and put it down.", + "Secure the bottle with cute ghost drawing and perform a shake.", + "Shake the the medium cylinder-shaped bottle properly after lifting.", + "Hold the rounded body bottle made of plastic with the right arm and shake lightly.", + "Grab the milk-bottle shape design and shake it steadily.", + "Lift the hand-sized bottle with screw cap and shake it gently.", + "Pick the bottle with cute ghost drawing and perform shaking motion.", + "Use the right arm to lift and shake the medium-sized plastic bottle.", + "Catch the light gray colored container bottle and shake it instantly.", + "Use the right arm to lift and shake the milk-bottle shape design.", + "Shake the smooth cylindrical bottle after holding it firmly.", + "Pick the hand-sized bottle with screw cap up using the right arm and shake it.", + "Lift the medium-sized plastic bottle with the right arm and shake.", + "Grab the light gray colored container bottle with the right arm and shake.", + "Shake the rounded body bottle made of plastic using the right arm after grabbing.", + "Secure the hand-sized bottle with screw cap, shake it, and place it down.", + "Hold the smooth surface bottle with gray shade and shake it properly.", + "Pick the smooth cylindrical bottle, shake it with the right arm.", + "Using the right arm, shake the milk-bottle shape design and then place it back.", + "Use the right arm to hold the gray bottle with slight shine and shake it.", + "Take the bottle shaped like small cylinder using the right arm and give it a shake.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Lift the hand-sized bottle with screw cap with the right arm and shake it.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Hold the bottle with cute ghost drawing steady, then shake it.", + "Shake the medium cylinder-shaped bottle firmly after grabbing.", + "Pick up the milk-bottle shape design and shake it.", + "Shake the smooth cylindrical bottle thoroughly after grabbing it.", + "Grip the smooth surface bottle with gray shade using the right arm and shake.", + "Use the right arm to grab the medium cylinder-shaped bottle and shake properly.", + "Lift the rounded body bottle made of plastic and shake it thoroughly.", + "Grab the smooth surface bottle with gray shade and give it a shake.", + "Hold and shake the the milk-bottle shape design carefully.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "With the right arm, pick the hand-sized bottle with screw cap and shake properly.", + "Grab the light gray colored container bottle using the right arm, then shake.", + "Pick the bottle shaped like small cylinder up with the right arm and shake.", + "Grasp the milk-bottle shape design with the right arm and shake it.", + "Use the right arm to grab the bottle shaped like small cylinder and shake it.", + "Shake the light gray colored container bottle after lifting it.", + "Grab the hand-sized bottle with screw cap and move it to shake.", + "Lift the smooth cylindrical bottle with the right arm and give it a shake.", + "Use the right arm to pick and shake the plastic bottle with ghost print.", + "Lift up the gray bottle with slight shine using the right arm, then shake.", + "Pick up the bottle shaped like small cylinder and shake it well.", + "Grab and shake the smooth surface bottle with gray shade using the right arm.", + "Utilize the right arm to hold the smooth cylindrical bottle and shake it.", + "Hold the hand-sized bottle with screw cap, shake it briefly.", + "Use the right arm to lift and shake the hand-sized bottle with screw cap.", + "Grab the rounded body bottle made of plastic firmly, shake it, and put it down.", + "Secure the milk-bottle shape design and perform a shake.", + "Shake the the medium-sized plastic bottle properly after lifting.", + "Hold the medium-sized plastic bottle with the right arm and shake lightly.", + "Grab the rounded body bottle made of plastic and shake it steadily.", + "Lift the rounded body bottle made of plastic and shake it gently.", + "Pick the medium cylinder-shaped bottle and perform shaking motion.", + "Use the right arm to lift and shake the rounded body bottle made of plastic.", + "Catch the smooth surface bottle with gray shade and shake it instantly.", + "Use the right arm to lift and shake the medium-sized plastic bottle.", + "Shake the bottle shaped like small cylinder after holding it firmly.", + "Pick the smooth cylindrical bottle up using the right arm and shake it.", + "Lift the medium-sized plastic bottle with the right arm and shake.", + "Grab the gray bottle with slight shine with the right arm and shake.", + "Shake the medium-sized plastic bottle using the right arm after grabbing.", + "Secure the gray bottle with slight shine, shake it, and place it down.", + "Hold the plastic bottle with ghost print and shake it properly.", + "Pick the rounded body bottle made of plastic, shake it with the right arm.", + "Using the right arm, shake the hand-sized bottle with screw cap and then place it back.", + "Use the right arm to hold the medium-sized plastic bottle and shake it.", + "Take the bottle shaped like small cylinder using the right arm and give it a shake.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Lift the bottle with cute ghost drawing with the right arm and shake it.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Hold the rounded body bottle made of plastic steady, then shake it.", + "Shake the bottle with cute ghost drawing firmly after grabbing.", + "Pick up the medium-sized plastic bottle and shake it.", + "Shake the smooth cylindrical bottle thoroughly after grabbing it.", + "Grip the smooth surface bottle with gray shade using the right arm and shake.", + "Use the right arm to grab the bottle shaped like small cylinder and shake properly.", + "Lift the milk-bottle shape design and shake it thoroughly.", + "Grab the bottle with cute ghost drawing and give it a shake.", + "Hold and shake the the medium cylinder-shaped bottle carefully.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "With the right arm, pick the plastic bottle with ghost print and shake properly.", + "Grab the rounded body bottle made of plastic using the right arm, then shake.", + "Pick the smooth cylindrical bottle up with the right arm and shake." + ], + "unseen": [ + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to pick the light gray bottle.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to pick the light gray bottle.", + "Grab the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the light gray bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode256.json b/shake_bottle/ur5_randomized_500/instructions/episode256.json new file mode 100644 index 0000000000000000000000000000000000000000..2f413a6b2cf9c6d82b79ffb8e8601b7fa525c668 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode256.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle for liquid and shake it steadily.", + "Pick the bottle for liquid up using the right arm and shake it.", + "Pick the bottle for liquid, shake it with the right arm.", + "Hold the yellow bottle with blue label and shake it properly.", + "Hold the plastic bottle, shake it briefly.", + "Lift the medium plastic bottle with cap with the right arm and shake it.", + "Grab and shake the bottle for liquid using the right arm.", + "Lift the plastic bottle with curved sides and shake it gently.", + "Utilize the right arm to hold the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the bottle for liquid and shake properly.", + "Shake the yellow bottle with blue label after grabbing it.", + "Lift up the bottle for liquid using the right arm, then shake.", + "Using the right arm, shake the bottle with screw cap and then place it back.", + "Use the right arm to grab the medium plastic bottle with cap and shake it.", + "Grasp the medium plastic bottle with cap with the right arm and shake it.", + "Lift the bottle for liquid with the right arm and give it a shake.", + "Hold the medium-sized bottle with the right arm and shake lightly.", + "Use the right arm to pick and shake the handheld curvy bottle.", + "Hold and shake the the yellow bottle with blue label carefully.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Grab the bottle for liquid firmly, shake it, and put it down.", + "Shake the smooth plastic bottle after lifting it.", + "Pick up the plastic bottle and shake it.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the yellow bottle with dark label using the right arm after grabbing.", + "Shake the smooth plastic bottle after holding it firmly.", + "Pick up the medium plastic bottle with cap and shake it well.", + "Use the right arm to lift and shake the bottle for liquid.", + "Hold the bottle with screw cap steady, then shake it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Secure the yellow bottle with dark label and perform a shake.", + "Secure the yellow bottle for liquid storage, shake it, and place it down.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "Lift the yellow bottle for liquid storage with the right arm and shake.", + "With the right arm, pick the medium plastic bottle with cap and shake properly.", + "Grab the bottle with screw cap with the right arm and shake.", + "Pick the yellow bottle and perform shaking motion.", + "Take the bottle with screw cap using the right arm and give it a shake.", + "Catch the handheld curvy bottle and shake it instantly.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Grab the yellow bottle with dark label carefully and shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Grab the yellow bottle with dark label and move it to shake.", + "Shake the yellow bottle after grabbing it.", + "Use the right arm to lift and shake the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage using the right arm, then shake.", + "Grab the yellow bottle with dark label and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle for liquid and shake it steadily.", + "Pick the medium plastic bottle with cap up using the right arm and shake it.", + "Pick the bottle with screw cap, shake it with the right arm.", + "Hold the yellow bottle with blue label and shake it properly.", + "Hold the yellow bottle for liquid storage, shake it briefly.", + "Lift the yellow bottle with dark label with the right arm and shake it.", + "Grab and shake the medium-sized bottle using the right arm.", + "Lift the medium plastic bottle with cap and shake it gently.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Use the right arm to grab the bottle for liquid and shake properly.", + "Shake the bottle for liquid after grabbing it.", + "Lift up the handheld curvy bottle using the right arm, then shake.", + "Using the right arm, shake the yellow bottle and then place it back.", + "Use the right arm to grab the yellow bottle and shake it.", + "Grasp the yellow bottle for liquid storage with the right arm and shake it.", + "Lift the bottle for liquid with the right arm and give it a shake.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Use the right arm to pick and shake the bottle with screw cap.", + "Hold and shake the the yellow bottle carefully.", + "Grip the plastic bottle with curved sides using the right arm and shake.", + "Use the right arm to hold the bottle with screw cap and shake it.", + "Grab the bottle with screw cap firmly, shake it, and put it down.", + "Shake the plastic bottle with curved sides after lifting it.", + "Pick up the yellow bottle with dark label and shake it.", + "Pick the yellow bottle with dark label up with the right arm and shake.", + "Shake the plastic bottle with curved sides using the right arm after grabbing.", + "Shake the plastic bottle after holding it firmly.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Hold the plastic bottle steady, then shake it.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Secure the handheld curvy bottle and perform a shake.", + "Secure the bottle with screw cap, shake it, and place it down.", + "Use the right arm to lift and shake the yellow bottle.", + "Lift the bottle for liquid with the right arm and shake.", + "With the right arm, pick the plastic bottle and shake properly.", + "Grab the handheld curvy bottle with the right arm and shake.", + "Pick the bottle with screw cap and perform shaking motion.", + "Take the medium plastic bottle with cap using the right arm and give it a shake.", + "Catch the plastic bottle and shake it instantly.", + "Shake the plastic bottle with curved sides firmly after grabbing.", + "Lift the medium plastic bottle with cap and shake it thoroughly.", + "Grab the medium plastic bottle with cap carefully and shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Grab the plastic bottle with curved sides and move it to shake.", + "Shake the bottle for liquid after grabbing it.", + "Use the right arm to lift and shake the yellow bottle.", + "Grab the smooth plastic bottle using the right arm, then shake." + ], + "unseen": [ + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode257.json b/shake_bottle/ur5_randomized_500/instructions/episode257.json new file mode 100644 index 0000000000000000000000000000000000000000..2f4ff3d882e0bea5074fccc41fc70df66bbbbb95 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode257.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle for liquid and shake it gently.", + "Shake the the medium plastic bottle with cap properly after lifting.", + "Hold the bottle with screw cap, shake it briefly.", + "Hold the bottle with screw cap steady, then shake it.", + "Using the right arm, shake the yellow bottle with blue label and then place it back.", + "Grab and shake the bottle for liquid using the right arm.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Lift the yellow bottle with dark label and shake it thoroughly.", + "Lift up the yellow bottle with dark label using the right arm, then shake.", + "Hold the medium-sized bottle and shake it properly.", + "Use the right arm to grab the yellow bottle for liquid storage and shake properly.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "With the right arm, pick the medium-sized bottle and shake properly.", + "Lift the plastic bottle with curved sides with the right arm and give it a shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the yellow bottle with the right arm and shake it.", + "Utilize the right arm to hold the yellow bottle with blue label and shake it.", + "Pick the bottle with screw cap up with the right arm and shake.", + "Grip the yellow bottle with blue label using the right arm and shake.", + "Pick up the bottle for liquid and shake it well.", + "Secure the yellow bottle for liquid storage, shake it, and place it down.", + "Shake the medium plastic bottle with cap after lifting it.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Pick the handheld curvy bottle and perform shaking motion.", + "Grab the handheld curvy bottle and move it to shake.", + "Shake the bottle with screw cap thoroughly after grabbing it.", + "Grab the plastic bottle with curved sides with the right arm and shake.", + "Grab the bottle with screw cap and shake it steadily.", + "Take the bottle with screw cap using the right arm and give it a shake.", + "Grab the bottle with screw cap using the right arm, then shake.", + "Pick the medium plastic bottle with cap up using the right arm and shake it.", + "Shake the plastic bottle with curved sides using the right arm after grabbing.", + "Shake the yellow bottle with dark label after grabbing it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grab the bottle for liquid carefully and shake.", + "Shake the yellow bottle with dark label after grabbing it.", + "Catch the bottle with screw cap and shake it instantly.", + "Use the right arm to grab the medium plastic bottle with cap and shake it.", + "Pick up the yellow bottle and shake it.", + "Lift the bottle with screw cap with the right arm and shake.", + "Use the right arm to lift and shake the handheld curvy bottle.", + "Shake the yellow bottle with blue label firmly after grabbing.", + "Secure the yellow bottle for liquid storage and perform a shake.", + "Use the right arm to pick and shake the yellow bottle.", + "Shake the yellow bottle with blue label after holding it firmly.", + "Use the right arm to lift and shake the yellow bottle.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Hold and shake the the yellow bottle carefully.", + "Grasp the yellow bottle with blue label with the right arm and shake it.", + "Lift the yellow bottle and shake it gently.", + "Shake the the plastic bottle properly after lifting.", + "Hold the yellow bottle, shake it briefly.", + "Hold the handheld curvy bottle steady, then shake it.", + "Using the right arm, shake the yellow bottle with blue label and then place it back.", + "Grab and shake the yellow bottle with blue label using the right arm.", + "Hold the yellow bottle for liquid storage with the right arm and shake lightly.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Lift up the bottle with screw cap using the right arm, then shake.", + "Hold the plastic bottle and shake it properly.", + "Use the right arm to grab the bottle with screw cap and shake properly.", + "Grab the yellow bottle and give it a shake.", + "With the right arm, pick the yellow bottle and shake properly.", + "Lift the bottle with screw cap with the right arm and give it a shake.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Lift the plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the plastic bottle with curved sides and shake it.", + "Pick the yellow bottle with blue label up with the right arm and shake.", + "Grip the medium-sized bottle using the right arm and shake.", + "Pick up the smooth plastic bottle and shake it well.", + "Secure the medium plastic bottle with cap, shake it, and place it down.", + "Shake the bottle with screw cap after lifting it.", + "Grab the yellow bottle with blue label firmly, shake it, and put it down.", + "Pick the bottle with screw cap and perform shaking motion.", + "Grab the bottle for liquid and move it to shake.", + "Shake the bottle for liquid thoroughly after grabbing it.", + "Grab the plastic bottle with curved sides with the right arm and shake.", + "Grab the medium-sized bottle and shake it steadily.", + "Take the bottle for liquid using the right arm and give it a shake.", + "Grab the bottle with screw cap using the right arm, then shake.", + "Pick the handheld curvy bottle up using the right arm and shake it.", + "Shake the yellow bottle with dark label using the right arm after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to hold the yellow bottle with dark label and shake it.", + "Grab the bottle with screw cap carefully and shake.", + "Shake the bottle with screw cap after grabbing it.", + "Catch the plastic bottle and shake it instantly.", + "Use the right arm to grab the yellow bottle with dark label and shake it.", + "Pick up the yellow bottle with blue label and shake it.", + "Lift the medium-sized bottle with the right arm and shake.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Secure the medium-sized bottle and perform a shake.", + "Use the right arm to pick and shake the plastic bottle with curved sides.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to lift and shake the yellow bottle for liquid storage.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick the yellow bottle with blue label, shake it with the right arm.", + "Hold and shake the the handheld curvy bottle carefully.", + "Grasp the medium-sized bottle with the right arm and shake it." + ], + "unseen": [ + "Pick up the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the yellow bottle with white cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode258.json b/shake_bottle/ur5_randomized_500/instructions/episode258.json new file mode 100644 index 0000000000000000000000000000000000000000..373f9d21ab2f8890e80521490c950dfa81c7486b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode258.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the small bottle with decorative design and shake it.", + "Using the left arm, shake the curved bottle with white top and then place it back.", + "Use the left arm to pick and shake the hand-sized plastic bottle.", + "Hold the curved bottle with white top steady, then shake it.", + "Shake the bottle with white screw cap after grabbing it.", + "Shake the smooth brown and white patterned bottle thoroughly after grabbing it.", + "Secure the smooth brown and white patterned bottle and perform a shake.", + "Grab the curved bottle with white top and move it to shake.", + "Hold the bottle with brown and white patterns with the left arm and shake lightly.", + "Pick the small curved plastic bottle, shake it with the left arm.", + "Grip the bottle with black label using the left arm and shake.", + "Utilize the left arm to hold the curved bottle with white top and shake it.", + "Lift the smooth brown and white patterned bottle and shake it thoroughly.", + "Shake the plastic bottle after holding it firmly.", + "Take the small bottle with decorative design using the left arm and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Lift up the bottle holding liquid using the left arm, then shake.", + "Lift the bottle with white screw cap with the left arm and shake.", + "Lift the curved bottle with white top and shake it gently.", + "Pick the small curved plastic bottle up using the left arm and shake it.", + "Grab the smooth brown and white patterned bottle firmly, shake it, and put it down.", + "Lift the small bottle with decorative design with the left arm and give it a shake.", + "Secure the bottle with white screw cap, shake it, and place it down.", + "With the left arm, pick the bottle holding liquid and shake properly.", + "Pick the bottle with black label and perform shaking motion.", + "Shake the the bottle with black label properly after lifting.", + "Use the left arm to hold the bottle with black label and shake it.", + "Use the left arm to lift and shake the bottle with white screw cap.", + "Hold the small bottle with decorative design and shake it properly.", + "Grab the bottle with brown and white patterns with the left arm and shake.", + "Hold the curved bottle with white top, shake it briefly.", + "Catch the hand-sized plastic bottle and shake it instantly.", + "Shake the brown bottle firmly after grabbing.", + "Pick up the plastic bottle and shake it.", + "Shake the hand-sized plastic bottle after lifting it.", + "Shake the bottle with black label using the left arm after grabbing.", + "Grasp the bottle with black label with the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle holding liquid and give it a shake.", + "Lift the curved bottle with white top with the left arm and shake it.", + "Use the left arm to grab the bottle with brown and white patterns and shake properly.", + "Grab the white-capped bottle using the left arm, then shake.", + "Hold and shake the the bottle with white screw cap carefully.", + "Grab and shake the curved bottle with white top using the left arm.", + "Shake the bottle with black label after grabbing it.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white screw cap.", + "Grab the hand-sized plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the small curved plastic bottle.", + "Pick up the bottle with black label and shake it well.", + "Use the left arm to grab the smooth brown and white patterned bottle and shake it.", + "Using the left arm, shake the bottle with black label and then place it back.", + "Use the left arm to pick and shake the hand-sized plastic bottle.", + "Hold the plastic bottle steady, then shake it.", + "Shake the bottle holding liquid after grabbing it.", + "Shake the hand-sized plastic bottle thoroughly after grabbing it.", + "Secure the bottle with white screw cap and perform a shake.", + "Grab the smooth brown and white patterned bottle and move it to shake.", + "Hold the smooth brown and white patterned bottle with the left arm and shake lightly.", + "Pick the small bottle with decorative design, shake it with the left arm.", + "Grip the curved bottle with white top using the left arm and shake.", + "Utilize the left arm to hold the white-capped bottle and shake it.", + "Lift the bottle with brown and white patterns and shake it thoroughly.", + "Shake the bottle with black label after holding it firmly.", + "Take the white-capped bottle using the left arm and give it a shake.", + "Grab the hand-sized plastic bottle carefully and shake.", + "Lift up the white-capped bottle using the left arm, then shake.", + "Lift the hand-sized plastic bottle with the left arm and shake.", + "Lift the small bottle with decorative design and shake it gently.", + "Pick the small bottle with decorative design up using the left arm and shake it.", + "Grab the smooth brown and white patterned bottle firmly, shake it, and put it down.", + "Lift the small bottle with decorative design with the left arm and give it a shake.", + "Secure the small curved plastic bottle, shake it, and place it down.", + "With the left arm, pick the bottle with brown and white patterns and shake properly.", + "Pick the bottle holding liquid and perform shaking motion.", + "Shake the the white-capped bottle properly after lifting.", + "Use the left arm to hold the small curved plastic bottle and shake it.", + "Use the left arm to lift and shake the bottle holding liquid.", + "Hold the smooth brown and white patterned bottle and shake it properly.", + "Grab the plastic bottle with the left arm and shake.", + "Hold the hand-sized plastic bottle, shake it briefly.", + "Catch the curved bottle with white top and shake it instantly.", + "Shake the white-capped bottle firmly after grabbing.", + "Pick up the smooth brown and white patterned bottle and shake it.", + "Shake the brown bottle after lifting it.", + "Shake the small curved plastic bottle using the left arm after grabbing.", + "Grasp the curved bottle with white top with the left arm and shake it.", + "Shake the bottle with white screw cap after grabbing it.", + "Grab the bottle with black label and give it a shake.", + "Lift the white-capped bottle with the left arm and shake it.", + "Use the left arm to grab the small bottle with decorative design and shake properly.", + "Grab the smooth brown and white patterned bottle using the left arm, then shake.", + "Hold and shake the the plastic bottle carefully.", + "Grab and shake the plastic bottle using the left arm.", + "Shake the bottle with white screw cap after grabbing it.", + "Pick the hand-sized plastic bottle up with the left arm and shake.", + "Use the left arm to lift and shake the brown bottle.", + "Grab the white-capped bottle and shake it steadily.", + "Use the left arm to lift and shake the hand-sized plastic bottle.", + "Pick up the brown bottle and shake it well." + ], + "unseen": [ + "Use the left arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the cylindrical bottle with curved sides with the left arm and shake.", + "Pick and shake the the brown bottle with glossy swirls with the left arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the glossy brown bottle and shake it.", + "Grab the glossy brown bottle and shake it.", + "Shake the glossy brown bottle after picking it with the left arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Use the left arm to pick the glossy brown bottle.", + "Pick up the glossy brown bottle and shake it.", + "Use the left arm to grab the glossy brown bottle and shake.", + "Pick up the glossy brown bottle with the left arm and shake.", + "Pick and shake the the glossy brown bottle with the left arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the glossy brown bottle and shake it.", + "Grab the glossy brown bottle and shake it.", + "Shake the glossy brown bottle after picking it with the left arm.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Use the left arm to pick the cylindrical bottle with curved sides.", + "Pick up the glossy brown bottle and shake it.", + "Use the left arm to grab the glossy brown bottle and shake.", + "Pick up the brown bottle with glossy swirls with the left arm and shake.", + "Pick and shake the the glossy brown bottle with the left arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Grab the glossy brown bottle and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the left arm.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle with glossy swirls.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the left arm to grab the cylindrical bottle with curved sides and shake.", + "Pick up the cylindrical bottle with curved sides with the left arm and shake.", + "Pick and shake the the cylindrical bottle with curved sides with the left arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Shake the glossy brown bottle after picking it with the left arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the left arm to grab the cylindrical bottle with curved sides and shake.", + "Pick up the cylindrical bottle with curved sides with the left arm and shake.", + "Pick and shake the the glossy brown bottle with the left arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Grab the brown bottle with glossy swirls and shake it.", + "Shake the brown bottle with glossy swirls after picking it with the left arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the glossy brown bottle.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the left arm to grab the glossy brown bottle and shake.", + "Pick up the brown bottle with glossy swirls with the left arm and shake.", + "Pick and shake the the cylindrical bottle with curved sides with the left arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the glossy brown bottle and shake it.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the left arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Use the left arm to pick the cylindrical bottle with curved sides.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the left arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the cylindrical bottle with curved sides with the left arm and shake.", + "Pick and shake the the cylindrical bottle with curved sides with the left arm.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Shake the glossy brown bottle after picking it with the left arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the left arm to grab the cylindrical bottle with curved sides and shake.", + "Pick up the cylindrical bottle with curved sides with the left arm and shake.", + "Pick and shake the the brown bottle with glossy swirls with the left arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the left arm.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Use the left arm to pick the cylindrical bottle with curved sides.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the left arm to grab the cylindrical bottle with curved sides and shake.", + "Pick up the brown bottle with glossy swirls with the left arm and shake.", + "Pick and shake the the cylindrical bottle with curved sides with the left arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Shake the glossy brown bottle after picking it with the left arm.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Use the left arm to pick the glossy brown bottle.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the left arm to grab the glossy brown bottle and shake.", + "Pick up the glossy brown bottle with the left arm and shake.", + "Pick and shake the the cylindrical bottle with curved sides with the left arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls and shake it.", + "Shake the glossy brown bottle after picking it with the left arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the glossy brown bottle.", + "Pick up the cylindrical bottle with curved sides and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode259.json b/shake_bottle/ur5_randomized_500/instructions/episode259.json new file mode 100644 index 0000000000000000000000000000000000000000..71061364f69736b4ec36afa86f9a91b7706fa505 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode259.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with a smooth plastic body using the right arm, then shake.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Grab the yellow plastic bottle with white top and give it a shake.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Grab the smooth bottle with rounded edges with the right arm and shake.", + "Hold and shake the the yellow container with rounded edges carefully.", + "Lift the bottle with green label with the right arm and shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Catch the bottle with green label and shake it instantly.", + "Shake the bottle with white cap firmly after grabbing.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Pick the bottle with a smooth plastic body and perform shaking motion.", + "Pick the plastic bottle up with the right arm and shake.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Shake the rectangular bottle with cylindrical neck using the right arm after grabbing.", + "Pick up the bottle with green and white labels and shake it.", + "Lift the bottle with green label and shake it thoroughly.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Pick the yellow plastic bottle with white top, shake it with the right arm.", + "Grab the bottle with green and white labels and move it to shake.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Take the smooth bottle with rounded edges using the right arm and give it a shake.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Grab the plastic bottle carefully and shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Pick the smooth bottle with rounded edges up using the right arm and shake it.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Use the right arm to hold the smooth bottle with rounded edges and shake it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Lift the yellow container with rounded edges and shake it gently.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Shake the bottle with a smooth plastic body after lifting it.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Hold the yellow plastic bottle with white top steady, then shake it.", + "Shake the bottle with green and white labels after holding it firmly.", + "Use the right arm to grab the bottle with a smooth plastic body and shake it.", + "Utilize the right arm to hold the bottle with a smooth plastic body and shake it.", + "With the right arm, pick the bottle with a smooth plastic body and shake properly.", + "Hold the bottle with green label with the right arm and shake lightly.", + "Grip the yellow bottle using the right arm and shake.", + "Shake the yellow bottle after grabbing it.", + "Lift the bottle with a smooth plastic body with the right arm and shake it.", + "Use the right arm to lift and shake the yellow bottle.", + "Use the right arm to lift and shake the bottle with white cap.", + "Use the right arm to pick and shake the yellow bottle with a green design.", + "Grasp the yellow container with rounded edges with the right arm and shake it.", + "Lift up the bottle with a smooth plastic body using the right arm, then shake.", + "Lift the yellow container with rounded edges with the right arm and give it a shake.", + "Grab and shake the bottle with a smooth plastic body using the right arm.", + "Grab the plastic bottle using the right arm, then shake.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Grab the bottle with green and white labels and give it a shake.", + "Hold the bottle with a smooth plastic body and shake it properly.", + "Grab the bottle with green label with the right arm and shake.", + "Hold and shake the the plastic bottle carefully.", + "Lift the yellow container with rounded edges with the right arm and shake.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Catch the bottle with a smooth plastic body and shake it instantly.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Pick the bottle with green label and perform shaking motion.", + "Pick the yellow bottle up with the right arm and shake.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Shake the bottle with green and white labels using the right arm after grabbing.", + "Pick up the plastic bottle and shake it.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Shake the the yellow bottle properly after lifting.", + "Pick the yellow bottle with a green design, shake it with the right arm.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Take the yellow container with rounded edges using the right arm and give it a shake.", + "Use the right arm to lift and shake the yellow bottle.", + "Grab the yellow bottle with a green design carefully and shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Pick the yellow plastic bottle with white top up using the right arm and shake it.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Use the right arm to hold the bottle with a smooth plastic body and shake it.", + "Using the right arm, shake the yellow bottle with a green design and then place it back.", + "Lift the medium rectangular yellow bottle and shake it gently.", + "Secure the bottle with green label and perform a shake.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Secure the yellow bottle, shake it, and place it down.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Hold the bottle with green and white labels steady, then shake it.", + "Shake the yellow bottle with a green design after holding it firmly.", + "Use the right arm to grab the plastic bottle and shake it.", + "Utilize the right arm to hold the smooth bottle with rounded edges and shake it.", + "With the right arm, pick the yellow bottle and shake properly.", + "Hold the medium rectangular yellow bottle with the right arm and shake lightly.", + "Grip the bottle with a smooth plastic body using the right arm and shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Use the right arm to pick and shake the plastic bottle.", + "Grasp the yellow plastic bottle with white top with the right arm and shake it.", + "Lift up the bottle with green label using the right arm, then shake.", + "Lift the bottle with green label with the right arm and give it a shake.", + "Grab and shake the yellow bottle using the right arm." + ], + "unseen": [ + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode26.json b/shake_bottle/ur5_randomized_500/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..a360624e456b78723abe20d62585dc51fd1b6a4d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the plastic bottle for liquids and shake it instantly.", + "Lift the smooth brown bottle and shake it gently.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Use the right arm to grab the bottle with brown body and white top and shake it.", + "Pick up the handheld brown bottle with white lid and shake it well.", + "Shake the plastic bottle for liquids after grabbing it.", + "Using the right arm, shake the smooth brown bottle and then place it back.", + "Use the right arm to pick and shake the plastic bottle with printed label.", + "Use the right arm to hold the medium bottle with smooth texture and shake it.", + "Hold and shake the the plastic bottle for liquids carefully.", + "With the right arm, pick the smooth brown bottle and shake properly.", + "Lift the bottle with brown body and white top with the right arm and shake it.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Grab the rounded bottle with printed details and move it to shake.", + "Shake the bottle with white cap after grabbing it.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Hold the plastic bottle with printed label and shake it properly.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Grab the rounded bottle with printed details carefully and shake.", + "Secure the medium plastic bottle and perform a shake.", + "Shake the smooth brown bottle using the right arm after grabbing.", + "Take the plastic bottle for liquids using the right arm and give it a shake.", + "Pick the cylindrical bottle with narrow neck up with the right arm and shake.", + "Grasp the medium plastic bottle with the right arm and shake it.", + "Pick the plastic bottle for liquids, shake it with the right arm.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Pick the bottle with brown body and white top and perform shaking motion.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Lift up the medium bottle with smooth texture using the right arm, then shake.", + "Grip the plastic bottle for liquids using the right arm and shake.", + "Grab the rounded bottle with printed details with the right arm and shake.", + "Lift the bottle with white cap with the right arm and shake.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Shake the the bottle with brown body and white top properly after lifting.", + "Grab and shake the bottle with dark brown color using the right arm.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Grab the plastic bottle for liquids using the right arm, then shake.", + "Utilize the right arm to hold the rounded bottle with printed details and shake it.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "Pick the handheld brown bottle with white lid up using the right arm and shake it.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Hold the bottle with white cap with the right arm and shake lightly.", + "Grab the rounded bottle with printed details and give it a shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Pick up the plastic bottle for liquids and shake it.", + "Use the right arm to grab the bottle with brown body and white top and shake properly.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Catch the white-capped brown cylindrical bottle and shake it instantly.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Grab the medium bottle with smooth texture firmly, shake it, and put it down.", + "Use the right arm to grab the plastic bottle with printed label and shake it.", + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "Shake the bottle with brown body and white top after grabbing it.", + "Using the right arm, shake the smooth brown bottle and then place it back.", + "Use the right arm to pick and shake the smooth brown bottle.", + "Use the right arm to hold the medium plastic bottle and shake it.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Lift the rounded bottle with printed details with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Grab the smooth brown bottle and move it to shake.", + "Shake the bottle with brown body and white top after grabbing it.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Hold the cylindrical bottle with narrow neck and shake it properly.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Grab the bottle with brown body and white top carefully and shake.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Shake the plastic bottle for liquids using the right arm after grabbing.", + "Take the plastic bottle for liquids using the right arm and give it a shake.", + "Pick the white-capped brown cylindrical bottle up with the right arm and shake.", + "Grasp the medium plastic bottle with the right arm and shake it.", + "Pick the medium bottle with smooth texture, shake it with the right arm.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Pick the bottle with dark brown color and perform shaking motion.", + "Shake the medium bottle with smooth texture after lifting it.", + "Lift up the smooth brown bottle using the right arm, then shake.", + "Grip the bottle with dark brown color using the right arm and shake.", + "Grab the handheld brown bottle with white lid with the right arm and shake.", + "Lift the bottle with dark brown color with the right arm and shake.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Shake the the medium bottle with smooth texture properly after lifting.", + "Grab and shake the bottle with dark brown color using the right arm.", + "Secure the white-capped brown cylindrical bottle, shake it, and place it down.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Utilize the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Lift the medium bottle with smooth texture with the right arm and give it a shake.", + "Lift the medium plastic bottle and shake it thoroughly.", + "Pick the rounded bottle with printed details up using the right arm and shake it.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Hold the cylindrical bottle with narrow neck with the right arm and shake lightly.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Pick up the bottle with brown body and white top and shake it.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Use the right arm to lift and shake the medium plastic bottle." + ], + "unseen": [ + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode260.json b/shake_bottle/ur5_randomized_500/instructions/episode260.json new file mode 100644 index 0000000000000000000000000000000000000000..72c5702a6a71459bf98d47aff53aed4fab4e8d52 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode260.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the plastic drink bottle and shake it.", + "Shake the narrow-necked bottle after lifting it.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Pick up the dark drink bottle with logo and shake it well.", + "Grab the red-capped bottle and shake it steadily.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Shake the the red-capped bottle properly after lifting.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Hold and shake the the long thin bottle carefully.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the long thin bottle after holding it firmly.", + "Hold the narrow-necked bottle and shake it properly.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Shake the medium dark brown bottle firmly after grabbing.", + "With the left arm, pick the long thin bottle and shake properly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Grip the plastic drink bottle using the left arm and shake.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Pick up the Coca-Cola bottle and shake it.", + "Shake the red-capped bottle after lifting it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Lift the plastic drink bottle and shake it gently.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Grab the red-capped bottle and give it a shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Hold and shake the the long thin bottle carefully.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Secure the narrow-necked bottle and perform a shake.", + "Grab and shake the red-capped bottle using the left arm.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Grab the dark drink bottle with logo and move it to shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Hold the plastic drink bottle and shake it properly.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "With the left arm, pick the long thin bottle and shake properly.", + "Shake the red-capped bottle after grabbing it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Hold the red-capped bottle, shake it briefly.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Catch the brown bottle with red label and shake it instantly." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode261.json b/shake_bottle/ur5_randomized_500/instructions/episode261.json new file mode 100644 index 0000000000000000000000000000000000000000..b5a4276e1d40a6d696930d675b276649cc0aa713 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode261.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with dark brown color steady, then shake it.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Grab the smooth brown bottle with the left arm and shake.", + "Grab the medium plastic bottle and move it to shake.", + "Hold the smooth brown bottle, shake it briefly.", + "Hold and shake the the plastic bottle with printed label carefully.", + "Lift the medium plastic bottle and shake it gently.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Shake the plastic bottle for liquids thoroughly after grabbing it.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Lift up the smooth brown bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Use the left arm to grab the bottle with brown body and white top and shake it.", + "Grab and shake the handheld brown bottle with white lid using the left arm.", + "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Catch the medium plastic bottle and shake it instantly.", + "Shake the rounded bottle with printed details after grabbing it.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Hold the bottle with dark brown color and shake it properly.", + "Shake the plastic bottle with printed label using the left arm after grabbing.", + "Use the left arm to pick and shake the smooth brown bottle.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Pick the medium bottle with smooth texture up using the left arm and shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Hold the white-capped brown cylindrical bottle with the left arm and shake lightly.", + "Lift the plastic bottle with printed label with the left arm and shake.", + "Lift the bottle with brown body and white top with the left arm and give it a shake.", + "Use the left arm to grab the bottle with brown body and white top and shake properly.", + "Shake the plastic bottle with printed label after lifting it.", + "Take the medium bottle with smooth texture using the left arm and give it a shake.", + "Pick up the bottle with dark brown color and shake it.", + "Using the left arm, shake the plastic bottle for liquids and then place it back.", + "Grip the rounded bottle with printed details using the left arm and shake.", + "With the left arm, pick the plastic bottle with printed label and shake properly.", + "Pick the bottle with dark brown color, shake it with the left arm.", + "Grasp the bottle with brown body and white top with the left arm and shake it.", + "Secure the smooth brown bottle and perform a shake.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grab the smooth brown bottle using the left arm, then shake.", + "Pick up the handheld brown bottle with white lid and shake it well.", + "Grab the handheld brown bottle with white lid and shake it steadily.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Lift the bottle with white cap with the left arm and shake it.", + "Pick the rounded bottle with printed details up with the left arm and shake.", + "Grab the plastic bottle for liquids carefully and shake.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "Hold the smooth brown bottle steady, then shake it.", + "Shake the bottle with dark brown color after holding it firmly.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Grab the medium plastic bottle with the left arm and shake.", + "Grab the smooth brown bottle and move it to shake.", + "Hold the plastic bottle for liquids, shake it briefly.", + "Hold and shake the the bottle with dark brown color carefully.", + "Lift the bottle with brown body and white top and shake it gently.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Grab the bottle with brown body and white top and give it a shake.", + "Shake the the medium plastic bottle properly after lifting.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Use the left arm to grab the plastic bottle with printed label and shake it.", + "Grab and shake the bottle with brown body and white top using the left arm.", + "Utilize the left arm to hold the medium bottle with smooth texture and shake it.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Secure the plastic bottle with printed label, shake it, and place it down.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Shake the white-capped brown cylindrical bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the white-capped brown cylindrical bottle.", + "Use the left arm to hold the smooth brown bottle and shake it.", + "Pick the handheld brown bottle with white lid up using the left arm and shake it.", + "Shake the bottle with dark brown color after grabbing it.", + "Hold the medium bottle with smooth texture with the left arm and shake lightly.", + "Lift the bottle with white cap with the left arm and shake.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Use the left arm to grab the handheld brown bottle with white lid and shake properly.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Take the bottle with dark brown color using the left arm and give it a shake.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Using the left arm, shake the bottle with dark brown color and then place it back.", + "Grip the white-capped brown cylindrical bottle using the left arm and shake.", + "With the left arm, pick the bottle with dark brown color and shake properly.", + "Pick the rounded bottle with printed details, shake it with the left arm.", + "Grasp the bottle with dark brown color with the left arm and shake it.", + "Secure the cylindrical bottle with narrow neck and perform a shake.", + "Shake the bottle with dark brown color after grabbing it.", + "Grab the plastic bottle for liquids using the left arm, then shake.", + "Pick up the medium plastic bottle and shake it well.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake it.", + "Pick the bottle with dark brown color up with the left arm and shake.", + "Grab the smooth brown bottle carefully and shake.", + "Lift the cylindrical bottle with narrow neck and shake it thoroughly." + ], + "unseen": [ + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode262.json b/shake_bottle/ur5_randomized_500/instructions/episode262.json new file mode 100644 index 0000000000000000000000000000000000000000..e5e3529fd0b37f6def982366d0bef9449b53eb85 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode262.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the rectangular brown body with white top after grabbing it.", + "Shake the rectangular-shaped bottle with round cap after lifting it.", + "Pick the brown bottle and perform shaking motion.", + "Shake the medium-sized brown plastic bottle using the right arm after grabbing.", + "Pick up the smooth brown bottle with green label and shake it.", + "Lift the plastic bottle with the right arm and shake.", + "Secure the brown bottle, shake it, and place it down.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Use the right arm to hold the brown bottle and shake it.", + "Grab the rectangular brown body with white top with the right arm and shake.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Shake the rectangular brown body with white top after holding it firmly.", + "Use the right arm to pick and shake the rectangular brown body with white top.", + "Pick the bottle with green cap, shake it with the right arm.", + "Grab the brown bottle with rounded rectangular shape and shake it steadily.", + "Grasp the smooth plastic bottle with white cap with the right arm and shake it.", + "Shake the bottle with green cap firmly after grabbing.", + "Hold the smooth brown bottle with green label with the right arm and shake lightly.", + "Hold and shake the the rectangular-shaped bottle with round cap carefully.", + "Use the right arm to lift and shake the brown bottle.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Grab the bottle with green cap using the right arm, then shake.", + "With the right arm, pick the bottle with green cap and shake properly.", + "Pick the bottle with green cap up using the right arm and shake it.", + "Grab the rectangular-shaped bottle with round cap and give it a shake.", + "Pick up the smooth plastic bottle with white cap and shake it well.", + "Lift the rectangular brown body with white top with the right arm and shake it.", + "Use the right arm to grab the medium bottle with glossy surface and shake properly.", + "Grab and shake the bottle with green cap using the right arm.", + "Secure the plastic bottle and perform a shake.", + "Catch the bottle with green cap and shake it instantly.", + "Grip the brown bottle with rounded rectangular shape using the right arm and shake.", + "Grab the bottle with green cap firmly, shake it, and put it down.", + "Hold the rectangular-shaped bottle with round cap, shake it briefly.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Take the bottle with green cap using the right arm and give it a shake.", + "Hold the brown bottle steady, then shake it.", + "Shake the the rectangular-shaped bottle with round cap properly after lifting.", + "Lift up the rectangular brown body with white top using the right arm, then shake.", + "Hold the bottle with green cap and shake it properly.", + "Use the right arm to grab the rectangular brown body with white top and shake it.", + "Use the right arm to lift and shake the rectangular-shaped bottle with round cap.", + "Grab the smooth brown bottle with green label carefully and shake.", + "Lift the bottle with flat sides and logo and shake it gently.", + "Utilize the right arm to hold the smooth plastic bottle with white cap and shake it.", + "Pick the rectangular brown body with white top up with the right arm and shake.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "Lift the bottle with flat sides and logo and shake it thoroughly.", + "Shake the smooth plastic bottle with white cap thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Shake the bottle with green cap after lifting it.", + "Pick the brown bottle and perform shaking motion.", + "Shake the brown bottle using the right arm after grabbing.", + "Pick up the medium bottle with glossy surface and shake it.", + "Lift the dark brown bottle with a squared body with the right arm and shake.", + "Secure the medium bottle with glossy surface, shake it, and place it down.", + "Lift the smooth plastic bottle with white cap with the right arm and give it a shake.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Grab the smooth brown bottle with green label with the right arm and shake.", + "Using the right arm, shake the bottle with flat sides and logo and then place it back.", + "Shake the medium bottle with glossy surface after holding it firmly.", + "Use the right arm to pick and shake the brown bottle.", + "Pick the rectangular-shaped bottle with round cap, shake it with the right arm.", + "Grab the bottle with flat sides and logo and shake it steadily.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the medium-sized brown plastic bottle firmly after grabbing.", + "Hold the brown bottle with the right arm and shake lightly.", + "Hold and shake the the dark brown bottle with a squared body carefully.", + "Use the right arm to lift and shake the medium-sized brown plastic bottle.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Grab the medium bottle with glossy surface using the right arm, then shake.", + "With the right arm, pick the bottle with flat sides and logo and shake properly.", + "Pick the medium-sized brown plastic bottle up using the right arm and shake it.", + "Grab the dark brown bottle with a squared body and give it a shake.", + "Pick up the dark brown bottle with a squared body and shake it well.", + "Lift the rectangular-shaped bottle with round cap with the right arm and shake it.", + "Use the right arm to grab the bottle with green cap and shake properly.", + "Grab and shake the smooth brown bottle with green label using the right arm.", + "Secure the brown bottle with rounded rectangular shape and perform a shake.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Grip the rectangular brown body with white top using the right arm and shake.", + "Grab the rectangular brown body with white top firmly, shake it, and put it down.", + "Hold the bottle with flat sides and logo, shake it briefly.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Take the brown bottle using the right arm and give it a shake.", + "Hold the brown bottle with rounded rectangular shape steady, then shake it.", + "Shake the the bottle with green cap properly after lifting.", + "Lift up the brown bottle with rounded rectangular shape using the right arm, then shake.", + "Hold the dark brown bottle with a squared body and shake it properly.", + "Use the right arm to grab the dark brown bottle with a squared body and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the medium-sized brown plastic bottle carefully and shake.", + "Lift the smooth brown bottle with green label and shake it gently.", + "Utilize the right arm to hold the medium-sized brown plastic bottle and shake it.", + "Pick the plastic bottle up with the right arm and shake.", + "Grab the bottle with green cap and move it to shake.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth brown bottle with green label." + ], + "unseen": [ + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Grab the bottle with green label and white lid and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode263.json b/shake_bottle/ur5_randomized_500/instructions/episode263.json new file mode 100644 index 0000000000000000000000000000000000000000..ac3ff3b31f542342e6554e053eaf84618d380d7f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode263.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the beverage bottle with black body properly after lifting.", + "Lift the yellow-capped cylindrical bottle with the right arm and shake.", + "Lift the black cylindrical bottle with ridges with the right arm and give it a shake.", + "Grab the black cylindrical bottle with ridges and move it to shake.", + "Pick up the black bottle and shake it well.", + "Use the right arm to pick and shake the bottle with blue and yellow print.", + "Lift the medium black bottle with printed label with the right arm and shake it.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Shake the medium black bottle with printed label after grabbing it.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Lift the black cylindrical bottle with ridges and shake it gently.", + "Hold the yellow-capped cylindrical bottle, shake it briefly.", + "Using the right arm, shake the bottle with blue and yellow print and then place it back.", + "Pick the black bottle and perform shaking motion.", + "Secure the black cylindrical bottle with ridges and perform a shake.", + "Pick the plastic bottle with colorful label up with the right arm and shake.", + "Grab the medium black bottle with printed label and give it a shake.", + "Hold the yellow-capped cylindrical bottle steady, then shake it.", + "Use the right arm to grab the beverage bottle with black body and shake it.", + "Use the right arm to lift and shake the black bottle.", + "Shake the yellow capped drink bottle after holding it firmly.", + "Pick up the bottle with blue and yellow print and shake it.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Lift the medium black bottle with printed label and shake it thoroughly.", + "Grab the smooth black bottle with ridges using the right arm, then shake.", + "Grab and shake the yellow-capped cylindrical bottle using the right arm.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Utilize the right arm to hold the plastic bottle with colorful label and shake it.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Take the beverage bottle with black body using the right arm and give it a shake.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Pick the plastic bottle with colorful label, shake it with the right arm.", + "Shake the medium black bottle with printed label using the right arm after grabbing.", + "Secure the plastic bottle with colorful label, shake it, and place it down.", + "Lift up the smooth black bottle with ridges using the right arm, then shake.", + "Shake the smooth black bottle with ridges after lifting it.", + "Pick the drink bottle with rounded yellow lid up using the right arm and shake it.", + "Grab the plastic bottle with colorful label with the right arm and shake.", + "With the right arm, pick the yellow capped drink bottle and shake properly.", + "Use the right arm to hold the yellow-capped cylindrical bottle and shake it.", + "Grip the plastic bottle with colorful label using the right arm and shake.", + "Hold and shake the the yellow-capped cylindrical bottle carefully.", + "Shake the beverage bottle with black body thoroughly after grabbing it.", + "Grab the black bottle carefully and shake.", + "Grab the beverage bottle with black body and shake it steadily.", + "Hold the drink bottle with rounded yellow lid with the right arm and shake lightly.", + "Use the right arm to grab the smooth black bottle with ridges and shake properly.", + "Grasp the medium black bottle with printed label with the right arm and shake it.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Lift the beverage bottle with black body with the right arm and shake.", + "Lift the black plastic bottle with Pepsi logo with the right arm and give it a shake.", + "Grab the smooth black bottle with ridges and move it to shake.", + "Pick up the black cylindrical bottle with ridges and shake it well.", + "Use the right arm to pick and shake the drink bottle with rounded yellow lid.", + "Lift the yellow-capped cylindrical bottle with the right arm and shake it.", + "Use the right arm to lift and shake the medium black bottle with printed label.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Shake the beverage bottle with black body firmly after grabbing.", + "Lift the plastic bottle with colorful label and shake it gently.", + "Hold the yellow-capped cylindrical bottle, shake it briefly.", + "Using the right arm, shake the smooth black bottle with ridges and then place it back.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Secure the medium black bottle with printed label and perform a shake.", + "Pick the black cylindrical bottle with ridges up with the right arm and shake.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Use the right arm to grab the yellow-capped cylindrical bottle and shake it.", + "Use the right arm to lift and shake the black bottle.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Pick up the plastic bottle with colorful label and shake it.", + "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.", + "Grab and shake the beverage bottle with black body using the right arm.", + "Hold the black plastic bottle with Pepsi logo and shake it properly.", + "Utilize the right arm to hold the medium black bottle with printed label and shake it.", + "Shake the yellow capped drink bottle after grabbing it.", + "Catch the drink bottle with rounded yellow lid and shake it instantly.", + "Take the black cylindrical bottle with ridges using the right arm and give it a shake.", + "Shake the medium black bottle with printed label after grabbing it.", + "Pick the smooth black bottle with ridges, shake it with the right arm.", + "Shake the medium bottle with yellow cap using the right arm after grabbing.", + "Secure the plastic bottle with colorful label, shake it, and place it down.", + "Lift up the yellow-capped cylindrical bottle using the right arm, then shake.", + "Shake the yellow-capped cylindrical bottle after lifting it.", + "Pick the black bottle up using the right arm and shake it.", + "Grab the bottle with blue and yellow print with the right arm and shake.", + "With the right arm, pick the yellow-capped cylindrical bottle and shake properly.", + "Use the right arm to hold the bottle with blue and yellow print and shake it.", + "Grip the yellow-capped cylindrical bottle using the right arm and shake.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Shake the medium black bottle with printed label thoroughly after grabbing it.", + "Grab the plastic bottle with colorful label carefully and shake.", + "Grab the beverage bottle with black body and shake it steadily.", + "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.", + "Use the right arm to grab the smooth black bottle with ridges and shake properly.", + "Grasp the black bottle with the right arm and shake it.", + "Use the right arm to lift and shake the black cylindrical bottle with ridges." + ], + "unseen": [ + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the plastic bottle with blue label with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode264.json b/shake_bottle/ur5_randomized_500/instructions/episode264.json new file mode 100644 index 0000000000000000000000000000000000000000..17a5b0ebf55ba4900e4166f19e93d569367663ae --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode264.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium plastic bottle with cap with the left arm and shake it.", + "Pick up the handheld curvy bottle and shake it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Grab the medium plastic bottle with cap and move it to shake.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Shake the plastic bottle with curved sides after holding it firmly.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Pick the yellow bottle with dark label, shake it with the left arm.", + "Use the left arm to grab the plastic bottle and shake it.", + "Shake the yellow bottle with dark label after grabbing it.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Shake the the yellow bottle with blue label properly after lifting.", + "Lift the bottle for liquid with the left arm and give it a shake.", + "Shake the yellow bottle after lifting it.", + "Hold the plastic bottle with curved sides steady, then shake it.", + "Use the left arm to grab the medium plastic bottle with cap and shake properly.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Hold and shake the the plastic bottle with curved sides carefully.", + "Pick up the medium plastic bottle with cap and shake it well.", + "Secure the yellow bottle with blue label and perform a shake.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Lift the plastic bottle with curved sides and shake it gently.", + "Using the left arm, shake the yellow bottle for liquid storage and then place it back.", + "Use the left arm to pick and shake the yellow bottle.", + "Lift the bottle for liquid with the left arm and shake.", + "Hold the yellow bottle for liquid storage, shake it briefly.", + "Grab the yellow bottle with dark label and give it a shake.", + "Utilize the left arm to hold the yellow bottle with dark label and shake it.", + "Grab the handheld curvy bottle firmly, shake it, and put it down.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "With the left arm, pick the yellow bottle with blue label and shake properly.", + "Grab the bottle with screw cap and shake it steadily.", + "Lift up the medium plastic bottle with cap using the left arm, then shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grip the medium plastic bottle with cap using the left arm and shake.", + "Hold the yellow bottle for liquid storage and shake it properly.", + "Pick the yellow bottle with blue label and perform shaking motion.", + "Grab the plastic bottle with curved sides with the left arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Catch the bottle with screw cap and shake it instantly.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Take the handheld curvy bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Grab and shake the yellow bottle with blue label using the left arm.", + "Pick the medium plastic bottle with cap up using the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the bottle for liquid using the left arm, then shake.", + "Hold the bottle for liquid with the left arm and shake lightly.", + "Secure the handheld curvy bottle, shake it, and place it down.", + "Lift the yellow bottle with blue label with the left arm and shake it.", + "Pick up the smooth plastic bottle and shake it.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Grab the medium-sized bottle and move it to shake.", + "Shake the medium plastic bottle with cap using the left arm after grabbing.", + "Shake the handheld curvy bottle after holding it firmly.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Pick the bottle with screw cap, shake it with the left arm.", + "Use the left arm to grab the medium-sized bottle and shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the plastic bottle with curved sides firmly after grabbing.", + "Shake the the medium-sized bottle properly after lifting.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Shake the yellow bottle with blue label after lifting it.", + "Hold the yellow bottle with dark label steady, then shake it.", + "Use the left arm to grab the medium plastic bottle with cap and shake properly.", + "Grasp the medium plastic bottle with cap with the left arm and shake it.", + "Hold and shake the the yellow bottle with dark label carefully.", + "Pick up the bottle for liquid and shake it well.", + "Secure the yellow bottle with dark label and perform a shake.", + "Shake the medium-sized bottle after grabbing it.", + "Lift the medium plastic bottle with cap and shake it gently.", + "Using the left arm, shake the yellow bottle for liquid storage and then place it back.", + "Use the left arm to pick and shake the yellow bottle.", + "Lift the yellow bottle with dark label with the left arm and shake.", + "Hold the smooth plastic bottle, shake it briefly.", + "Grab the handheld curvy bottle and give it a shake.", + "Utilize the left arm to hold the medium plastic bottle with cap and shake it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Shake the medium plastic bottle with cap thoroughly after grabbing it.", + "With the left arm, pick the bottle for liquid and shake properly.", + "Grab the plastic bottle and shake it steadily.", + "Lift up the yellow bottle for liquid storage using the left arm, then shake.", + "Use the left arm to hold the bottle with screw cap and shake it.", + "Grip the yellow bottle for liquid storage using the left arm and shake.", + "Hold the bottle for liquid and shake it properly.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Grab the medium-sized bottle with the left arm and shake.", + "Grab the yellow bottle with dark label carefully and shake.", + "Catch the yellow bottle and shake it instantly.", + "Pick the plastic bottle up with the left arm and shake.", + "Take the yellow bottle for liquid storage using the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab and shake the yellow bottle with blue label using the left arm.", + "Pick the medium-sized bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Hold the medium plastic bottle with cap with the left arm and shake lightly.", + "Secure the bottle for liquid, shake it, and place it down." + ], + "unseen": [ + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle with white cap and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode265.json b/shake_bottle/ur5_randomized_500/instructions/episode265.json new file mode 100644 index 0000000000000000000000000000000000000000..a82392b8eae3b027375e9dc60a88c7ad9a462e1e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode265.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Pick the yellow bottle with a green design, shake it with the right arm.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Pick the yellow bottle up using the right arm and shake it.", + "Grab and shake the yellow bottle with a green design using the right arm.", + "Shake the smooth bottle with rounded edges firmly after grabbing.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Shake the yellow bottle with a green design using the right arm after grabbing.", + "Use the right arm to pick and shake the yellow container with rounded edges.", + "Use the right arm to hold the yellow plastic bottle with white top and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Hold the bottle with green label and shake it properly.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Grab the yellow container with rounded edges carefully and shake.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Use the right arm to grab the bottle with green and white labels and shake it.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Lift the bottle with green and white labels with the right arm and give it a shake.", + "Pick the bottle with green and white labels up with the right arm and shake.", + "Grab the plastic bottle with the right arm and shake.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Secure the yellow bottle, shake it, and place it down.", + "Pick up the bottle with white cap and shake it.", + "Lift the bottle with green label and shake it gently.", + "Take the rectangular bottle with cylindrical neck using the right arm and give it a shake.", + "Shake the the bottle with a smooth plastic body properly after lifting.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Grip the rectangular bottle with cylindrical neck using the right arm and shake.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Hold the bottle with white cap with the right arm and shake lightly.", + "Use the right arm to grab the bottle with a smooth plastic body and shake properly.", + "Grab the yellow bottle and move it to shake.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Shake the yellow bottle with a green design after grabbing it.", + "Grab the yellow bottle using the right arm, then shake.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Lift the bottle with white cap with the right arm and shake.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Using the right arm, shake the medium rectangular yellow bottle and then place it back.", + "Shake the yellow bottle with a green design after lifting it.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Shake the bottle with white cap after holding it firmly.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Secure the plastic bottle and perform a shake.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Hold and shake the the yellow container with rounded edges carefully.", + "Lift up the yellow plastic bottle with white top using the right arm, then shake.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Pick the medium rectangular yellow bottle, shake it with the right arm.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Pick the yellow bottle up using the right arm and shake it.", + "Grab and shake the bottle with green label using the right arm.", + "Shake the plastic bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Shake the plastic bottle using the right arm after grabbing.", + "Use the right arm to pick and shake the yellow bottle.", + "Use the right arm to hold the bottle with a smooth plastic body and shake it.", + "Pick the yellow bottle and perform shaking motion.", + "Hold the plastic bottle and shake it properly.", + "With the right arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with green and white labels and shake it.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Lift the bottle with a smooth plastic body with the right arm and give it a shake.", + "Pick the yellow bottle with a green design up with the right arm and shake.", + "Grab the yellow bottle with a green design with the right arm and shake.", + "Grab the smooth bottle with rounded edges and shake it steadily.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Pick up the yellow plastic bottle with white top and shake it.", + "Lift the bottle with green and white labels and shake it gently.", + "Take the bottle with green and white labels using the right arm and give it a shake.", + "Shake the the bottle with green and white labels properly after lifting.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Grip the yellow bottle using the right arm and shake.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Hold the bottle with green and white labels with the right arm and shake lightly.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Grab the bottle with green label and move it to shake.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Hold the yellow plastic bottle with white top steady, then shake it.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Grab the medium rectangular yellow bottle using the right arm, then shake.", + "Shake the bottle with white cap after grabbing it.", + "Lift the bottle with white cap with the right arm and shake.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Using the right arm, shake the medium rectangular yellow bottle and then place it back.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Shake the yellow bottle after holding it firmly.", + "Use the right arm to lift and shake the bottle with green label.", + "Secure the plastic bottle and perform a shake.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Shake the yellow container with rounded edges thoroughly after grabbing it.", + "Grasp the medium rectangular yellow bottle with the right arm and shake it.", + "Hold and shake the the rectangular bottle with cylindrical neck carefully.", + "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake." + ], + "unseen": [ + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode266.json b/shake_bottle/ur5_randomized_500/instructions/episode266.json new file mode 100644 index 0000000000000000000000000000000000000000..802eeab7391737fce8da2037c658988720f80152 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode266.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Pick up the red-capped bottle and shake it.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the red-capped bottle with the left arm and shake.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Hold the brown bottle with red label and shake it properly.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Catch the long thin bottle and shake it instantly.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Lift the hand-sized soda bottle and shake it gently.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Grab the red-capped bottle using the left arm, then shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the medium dark brown bottle carefully and shake.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Grab the medium dark brown bottle and give it a shake.", + "Shake the medium dark brown bottle after lifting it.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Use the left arm to grab the long thin bottle and shake it.", + "Hold the narrow-necked bottle and shake it properly.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Catch the bottle with white neck and red top and shake it instantly.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Lift the bottle with white neck and red top and shake it gently.", + "Hold the red-capped bottle, shake it briefly.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Lift the long thin bottle with the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Grab and shake the plastic drink bottle using the left arm.", + "Grab the long thin bottle using the left arm, then shake.", + "Grab the dark drink bottle with logo and move it to shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Grab the narrow-necked bottle and give it a shake.", + "Shake the brown bottle with red label after lifting it." + ], + "unseen": [ + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode267.json b/shake_bottle/ur5_randomized_500/instructions/episode267.json new file mode 100644 index 0000000000000000000000000000000000000000..59fb4b881fd8871172fafa5c67e9641fa5dd5adb --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode267.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the smooth brown bottle and shake properly.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Grab the handheld brown bottle with white lid using the right arm, then shake.", + "Lift the white-capped brown cylindrical bottle with the right arm and give it a shake.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Using the right arm, shake the bottle with brown body and white top and then place it back.", + "Lift the bottle with dark brown color with the right arm and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Lift the rounded bottle with printed details and shake it gently.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Shake the bottle with white cap using the right arm after grabbing.", + "Lift up the bottle with brown body and white top using the right arm, then shake.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.", + "Hold the bottle with white cap with the right arm and shake lightly.", + "Use the right arm to grab the plastic bottle for liquids and shake properly.", + "Grab the bottle with brown body and white top firmly, shake it, and put it down.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Grab the plastic bottle for liquids with the right arm and shake.", + "Pick the bottle with white cap up with the right arm and shake.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Take the plastic bottle with printed label using the right arm and give it a shake.", + "Utilize the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Pick the rounded bottle with printed details, shake it with the right arm.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Secure the bottle with brown body and white top, shake it, and place it down.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "Hold the bottle with white cap, shake it briefly.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Use the right arm to pick and shake the medium bottle with smooth texture.", + "Lift the rounded bottle with printed details with the right arm and shake.", + "Shake the rounded bottle with printed details after lifting it.", + "Secure the bottle with brown body and white top and perform a shake.", + "Grab and shake the plastic bottle with printed label using the right arm.", + "Grab the bottle with brown body and white top and move it to shake.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Shake the plastic bottle for liquids after grabbing it.", + "Grip the plastic bottle for liquids using the right arm and shake.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Pick the handheld brown bottle with white lid up using the right arm and shake it.", + "Hold and shake the the bottle with dark brown color carefully.", + "Hold the bottle with brown body and white top and shake it properly.", + "Use the right arm to hold the bottle with white cap and shake it.", + "Shake the smooth brown bottle firmly after grabbing.", + "With the right arm, pick the handheld brown bottle with white lid and shake properly.", + "Grab the rounded bottle with printed details carefully and shake.", + "Shake the rounded bottle with printed details thoroughly after grabbing it.", + "Shake the bottle with brown body and white top after grabbing it.", + "Grab the white-capped brown cylindrical bottle using the right arm, then shake.", + "Lift the medium plastic bottle with the right arm and give it a shake.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Using the right arm, shake the plastic bottle for liquids and then place it back.", + "Lift the smooth brown bottle with the right arm and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with brown body and white top and shake it.", + "Lift the medium plastic bottle and shake it gently.", + "Catch the smooth brown bottle and shake it instantly.", + "Shake the plastic bottle for liquids using the right arm after grabbing.", + "Lift up the bottle with brown body and white top using the right arm, then shake.", + "Shake the bottle with white cap after grabbing it.", + "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.", + "Hold the bottle with brown body and white top with the right arm and shake lightly.", + "Use the right arm to grab the smooth brown bottle and shake properly.", + "Grab the plastic bottle for liquids firmly, shake it, and put it down.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Grab the rounded bottle with printed details with the right arm and shake.", + "Pick the smooth brown bottle up with the right arm and shake.", + "Hold the bottle with white cap steady, then shake it.", + "Take the bottle with white cap using the right arm and give it a shake.", + "Utilize the right arm to hold the plastic bottle with printed label and shake it.", + "Use the right arm to grab the cylindrical bottle with narrow neck and shake it.", + "Pick the rounded bottle with printed details, shake it with the right arm.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Secure the bottle with white cap, shake it, and place it down.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Use the right arm to pick and shake the rounded bottle with printed details.", + "Lift the medium plastic bottle with the right arm and shake.", + "Shake the medium plastic bottle after lifting it.", + "Secure the rounded bottle with printed details and perform a shake.", + "Grab and shake the bottle with brown body and white top using the right arm.", + "Grab the plastic bottle with printed label and move it to shake.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Shake the bottle with white cap after grabbing it.", + "Grip the rounded bottle with printed details using the right arm and shake.", + "Shake the the bottle with brown body and white top properly after lifting.", + "Pick the smooth brown bottle up using the right arm and shake it.", + "Hold and shake the the smooth brown bottle carefully.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "Use the right arm to hold the smooth brown bottle and shake it.", + "Shake the handheld brown bottle with white lid firmly after grabbing." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode268.json b/shake_bottle/ur5_randomized_500/instructions/episode268.json new file mode 100644 index 0000000000000000000000000000000000000000..42161ebeeeeb1bb14b17c931aa35de47dfd19bde --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode268.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the cylindrical bottle with narrow neck and shake it.", + "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.", + "Hold the rounded bottle with printed details steady, then shake it.", + "Shake the medium plastic bottle using the left arm after grabbing.", + "Shake the the handheld brown bottle with white lid properly after lifting.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Pick up the bottle with dark brown color and shake it.", + "Utilize the left arm to hold the plastic bottle for liquids and shake it.", + "Grasp the white-capped brown cylindrical bottle with the left arm and shake it.", + "Pick the plastic bottle with printed label up using the left arm and shake it.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Hold and shake the the bottle with dark brown color carefully.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Grab the medium plastic bottle and move it to shake.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "Take the plastic bottle with printed label using the left arm and give it a shake.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Grab and shake the medium plastic bottle using the left arm.", + "With the left arm, pick the medium plastic bottle and shake properly.", + "Shake the smooth brown bottle after holding it firmly.", + "Shake the bottle with brown body and white top after grabbing it.", + "Pick the bottle with white cap, shake it with the left arm.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Use the left arm to grab the rounded bottle with printed details and shake properly.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Lift the bottle with white cap with the left arm and shake it.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Lift the medium bottle with smooth texture with the left arm and give it a shake.", + "Grab the medium bottle with smooth texture and give it a shake.", + "Use the left arm to grab the medium plastic bottle and shake it.", + "Grab the bottle with white cap using the left arm, then shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Hold the bottle with brown body and white top and shake it properly.", + "Secure the plastic bottle with printed label and perform a shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Grab the smooth brown bottle carefully and shake.", + "Shake the plastic bottle with printed label after lifting it.", + "Grip the plastic bottle for liquids using the left arm and shake.", + "Hold the rounded bottle with printed details with the left arm and shake lightly.", + "Pick the handheld brown bottle with white lid up with the left arm and shake.", + "Lift the bottle with dark brown color and shake it gently.", + "Lift the rounded bottle with printed details with the left arm and shake.", + "Grab the bottle with brown body and white top with the left arm and shake.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Use the left arm to pick and shake the handheld brown bottle with white lid.", + "Use the left arm to hold the rounded bottle with printed details and shake it.", + "Lift up the handheld brown bottle with white lid using the left arm, then shake.", + "Hold the plastic bottle with printed label steady, then shake it.", + "Shake the plastic bottle with printed label using the left arm after grabbing.", + "Shake the the medium plastic bottle properly after lifting.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Pick up the plastic bottle with printed label and shake it.", + "Utilize the left arm to hold the handheld brown bottle with white lid and shake it.", + "Grasp the plastic bottle with printed label with the left arm and shake it.", + "Pick the cylindrical bottle with narrow neck up using the left arm and shake it.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Pick up the handheld brown bottle with white lid and shake it well.", + "Hold and shake the the bottle with white cap carefully.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Grab the bottle with brown body and white top and move it to shake.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Lift the bottle with white cap and shake it thoroughly.", + "Take the bottle with dark brown color using the left arm and give it a shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Grab and shake the bottle with brown body and white top using the left arm.", + "With the left arm, pick the cylindrical bottle with narrow neck and shake properly.", + "Shake the medium bottle with smooth texture after holding it firmly.", + "Shake the bottle with white cap after grabbing it.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Use the left arm to grab the plastic bottle for liquids and shake properly.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Lift the white-capped brown cylindrical bottle with the left arm and give it a shake.", + "Grab the bottle with dark brown color and give it a shake.", + "Use the left arm to grab the bottle with brown body and white top and shake it.", + "Grab the bottle with brown body and white top using the left arm, then shake.", + "Shake the plastic bottle for liquids after grabbing it.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Hold the bottle with dark brown color and shake it properly.", + "Secure the medium plastic bottle and perform a shake.", + "Use the left arm to lift and shake the plastic bottle with printed label.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Shake the medium plastic bottle after lifting it.", + "Grip the plastic bottle with printed label using the left arm and shake.", + "Hold the medium bottle with smooth texture with the left arm and shake lightly.", + "Pick the white-capped brown cylindrical bottle up with the left arm and shake.", + "Lift the white-capped brown cylindrical bottle and shake it gently.", + "Lift the smooth brown bottle with the left arm and shake.", + "Grab the smooth brown bottle with the left arm and shake.", + "Secure the white-capped brown cylindrical bottle, shake it, and place it down.", + "Use the left arm to pick and shake the bottle with white cap." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode269.json b/shake_bottle/ur5_randomized_500/instructions/episode269.json new file mode 100644 index 0000000000000000000000000000000000000000..8b28342c546c57f68102a415fe6bf422c781688b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode269.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the handheld white bottle with cap using the right arm after grabbing.", + "Grip the white bottle using the right arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift the medium-sized bottle and shake it gently.", + "Hold and shake the the plastic bottle carefully.", + "Shake the cylindrical bottle with red writing firmly after grabbing.", + "Using the right arm, shake the white bottle and then place it back.", + "Grab the bottle with orange screw cap with the right arm and shake.", + "Utilize the right arm to hold the white bottle with red text and shake it.", + "Hold the white bottle with red text and shake it properly.", + "Pick up the white bottle with orange lid and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Shake the handheld white bottle with cap after grabbing it.", + "Use the right arm to grab the bottle with orange screw cap and shake it.", + "Use the right arm to lift and shake the bottle with tapering neck.", + "Lift the bottle with orange screw cap and shake it thoroughly.", + "With the right arm, pick the bottle with tapering neck and shake properly.", + "Secure the cylindrical bottle with red writing and perform a shake.", + "Shake the plastic bottle after grabbing it.", + "Secure the white bottle, shake it, and place it down.", + "Pick up the cylindrical bottle with red writing and shake it well.", + "Shake the cylindrical bottle with red writing thoroughly after grabbing it.", + "Use the right arm to hold the bottle with tapering neck and shake it.", + "Use the right arm to pick and shake the bottle with orange screw cap.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the white bottle with orange lid after lifting it.", + "Pick the handheld white bottle with cap up using the right arm and shake it.", + "Grab the white cylindrical bottle firmly, shake it, and put it down.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grab the cylindrical bottle with red writing carefully and shake.", + "Use the right arm to lift and shake the white bottle with orange lid.", + "Catch the medium-sized bottle and shake it instantly.", + "Grasp the bottle with orange screw cap with the right arm and shake it.", + "Pick the white cylindrical bottle up with the right arm and shake.", + "Use the right arm to grab the bottle with orange screw cap and shake properly.", + "Hold the white bottle steady, then shake it.", + "Lift the smooth bottle with the right arm and shake it.", + "Shake the the handheld white bottle with cap properly after lifting.", + "Grab the white bottle with orange lid using the right arm, then shake.", + "Hold the medium-sized bottle, shake it briefly.", + "Lift the bottle with orange screw cap with the right arm and give it a shake.", + "Use the right arm to lift and shake the cylindrical bottle with red writing.", + "Take the plastic bottle using the right arm and give it a shake.", + "Grab the medium-sized bottle and move it to shake.", + "Lift the cylindrical bottle with red writing with the right arm and shake.", + "Pick the white bottle for liquids, shake it with the right arm.", + "Grab the plastic bottle and give it a shake.", + "Shake the white bottle with red text after grabbing it.", + "Hold the handheld white bottle with cap with the right arm and shake lightly.", + "Grab and shake the white bottle for liquids using the right arm.", + "Shake the handheld white bottle with cap using the right arm after grabbing.", + "Grip the bottle with tapering neck using the right arm and shake.", + "Grab the white bottle with orange lid and shake it steadily.", + "Lift the plastic bottle and shake it gently.", + "Hold and shake the the white bottle with red text carefully.", + "Shake the white cylindrical bottle firmly after grabbing.", + "Using the right arm, shake the smooth bottle and then place it back.", + "Grab the white bottle with red text with the right arm and shake.", + "Utilize the right arm to hold the handheld white bottle with cap and shake it.", + "Hold the bottle with orange screw cap and shake it properly.", + "Pick up the white bottle for liquids and shake it.", + "Shake the bottle with tapering neck after holding it firmly.", + "Shake the white bottle with orange lid after grabbing it.", + "Use the right arm to grab the white cylindrical bottle and shake it.", + "Use the right arm to lift and shake the white bottle.", + "Lift the white cylindrical bottle and shake it thoroughly.", + "With the right arm, pick the handheld white bottle with cap and shake properly.", + "Secure the medium-sized bottle and perform a shake.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Secure the white bottle with orange lid, shake it, and place it down.", + "Pick up the white bottle with red text and shake it well.", + "Shake the smooth bottle thoroughly after grabbing it.", + "Use the right arm to hold the white bottle with orange lid and shake it.", + "Use the right arm to pick and shake the white bottle with orange lid.", + "Pick the medium-sized bottle and perform shaking motion.", + "Shake the white bottle with red text after lifting it.", + "Pick the white cylindrical bottle up using the right arm and shake it.", + "Grab the white bottle for liquids firmly, shake it, and put it down.", + "Lift up the smooth bottle using the right arm, then shake.", + "Grab the plastic bottle carefully and shake.", + "Use the right arm to lift and shake the bottle with orange screw cap.", + "Catch the bottle with orange screw cap and shake it instantly.", + "Grasp the smooth bottle with the right arm and shake it.", + "Pick the white bottle with orange lid up with the right arm and shake.", + "Use the right arm to grab the white bottle for liquids and shake properly.", + "Hold the smooth bottle steady, then shake it.", + "Lift the medium-sized bottle with the right arm and shake it.", + "Shake the the handheld white bottle with cap properly after lifting.", + "Grab the cylindrical bottle with red writing using the right arm, then shake.", + "Hold the smooth bottle, shake it briefly.", + "Lift the smooth bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the white bottle with red text.", + "Take the white cylindrical bottle using the right arm and give it a shake.", + "Grab the plastic bottle and move it to shake.", + "Lift the medium-sized bottle with the right arm and shake.", + "Pick the plastic bottle, shake it with the right arm.", + "Grab the handheld white bottle with cap and give it a shake.", + "Shake the white bottle after grabbing it.", + "Hold the smooth bottle with the right arm and shake lightly.", + "Grab and shake the cylindrical bottle with red writing using the right arm." + ], + "unseen": [ + "Use the right arm to pick the plastic bottle with printed label.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Use the right arm to pick the bottle with orange cap.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the bottle with glossy surface.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the bottle with glossy surface.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the bottle with orange cap.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Use the right arm to pick the bottle with orange cap.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the plastic bottle with printed label.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the plastic bottle with printed label.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Use the right arm to pick the bottle with glossy surface.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Use the right arm to pick the bottle with orange cap.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Use the right arm to grab the bottle with orange cap and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode27.json b/shake_bottle/ur5_randomized_500/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..74f55c412be51b8ada2d232639632954d3f48a54 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the blue bottle with label carefully.", + "Lift the medium bottle for beverages with the left arm and give it a shake.", + "Take the cylindrical bottle using the left arm and give it a shake.", + "Shake the medium-sized bottle after holding it firmly.", + "Grab the plastic bottle carefully and shake.", + "Grab the handheld bottle and shake it steadily.", + "Shake the bottle for liquids using the left arm after grabbing.", + "Lift the white bottle with blue accents and shake it thoroughly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the cylindrical bottle with the left arm and shake.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "Secure the bottle with blue cap and perform a shake.", + "Shake the white bottle with blue accents after lifting it.", + "Secure the blue bottle with label, shake it, and place it down.", + "Shake the bottle for liquids after grabbing it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Hold the blue bottle steady, then shake it.", + "Use the left arm to grab the handheld bottle and shake properly.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Use the left arm to pick and shake the bottle with blue cap.", + "Shake the handheld bottle firmly after grabbing.", + "Hold the cylindrical bottle and shake it properly.", + "Pick the white and blue bottle up with the left arm and shake.", + "Grab the bottle for liquids using the left arm, then shake.", + "Catch the cylindrical bottle and shake it instantly.", + "Pick up the bottle for liquids and shake it well.", + "Grab the plastic bottle and move it to shake.", + "Shake the the medium-sized bottle properly after lifting.", + "Lift the cylindrical bottle with the left arm and shake it.", + "Grasp the handheld bottle with the left arm and shake it.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Hold the white and blue bottle, shake it briefly.", + "Lift up the plastic bottle using the left arm, then shake.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Grab the blue bottle and give it a shake.", + "Pick the cylindrical bottle, shake it with the left arm.", + "Utilize the left arm to hold the white bottle with blue accents and shake it.", + "Lift the white bottle with blue accents with the left arm and shake.", + "Use the left arm to grab the blue bottle and shake it.", + "Shake the white and blue bottle after grabbing it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grip the blue bottle using the left arm and shake.", + "Use the left arm to hold the blue bottle and shake it.", + "Grab and shake the handheld bottle using the left arm.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Shake the medium-sized bottle after grabbing it.", + "Pick up the smooth plastic bottle and shake it.", + "Lift the bottle for liquids and shake it gently.", + "Hold and shake the the plastic bottle carefully.", + "Lift the white and blue bottle with the left arm and give it a shake.", + "Take the bottle with blue cap using the left arm and give it a shake.", + "Shake the white bottle with blue accents after holding it firmly.", + "Grab the white and blue bottle carefully and shake.", + "Grab the white and blue bottle and shake it steadily.", + "Shake the bottle for liquids using the left arm after grabbing.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Use the left arm to lift and shake the handheld bottle.", + "Grab the bottle with blue cap with the left arm and shake.", + "Hold the cylindrical bottle with the left arm and shake lightly.", + "Secure the white bottle with blue accents and perform a shake.", + "Shake the bottle for liquids after lifting it.", + "Secure the blue bottle with label, shake it, and place it down.", + "Shake the cylindrical bottle after grabbing it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Hold the bottle for liquids steady, then shake it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Use the left arm to pick and shake the blue bottle with label.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Hold the medium-sized bottle and shake it properly.", + "Pick the medium bottle for beverages up with the left arm and shake.", + "Grab the cylindrical bottle using the left arm, then shake.", + "Catch the white bottle with blue accents and shake it instantly.", + "Pick up the medium-sized bottle and shake it well.", + "Grab the handheld bottle and move it to shake.", + "Shake the the blue bottle properly after lifting.", + "Lift the handheld bottle with the left arm and shake it.", + "Grasp the handheld bottle with the left arm and shake it.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Hold the blue bottle with label, shake it briefly.", + "Lift up the plastic bottle using the left arm, then shake.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Grab the blue bottle and give it a shake.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Lift the medium-sized bottle with the left arm and shake.", + "Use the left arm to grab the cylindrical bottle and shake it.", + "Shake the cylindrical bottle after grabbing it.", + "With the left arm, pick the white and blue bottle and shake properly.", + "Grip the blue bottle with label using the left arm and shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grab and shake the bottle for liquids using the left arm.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Shake the bottle for liquids after grabbing it.", + "Pick up the white and blue bottle and shake it.", + "Lift the medium-sized bottle and shake it gently." + ], + "unseen": [ + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode270.json b/shake_bottle/ur5_randomized_500/instructions/episode270.json new file mode 100644 index 0000000000000000000000000000000000000000..bbc7bfc9be837538fb642785cd97d00c21ccf9dd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode270.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow bottle after grabbing it.", + "Use the right arm to lift and shake the yellow bottle with flower design.", + "Pick the rectangular bottle up with the right arm and shake.", + "Using the right arm, shake the smooth yellow plastic bottle and then place it back.", + "Grab the yellow bottle with green label and move it to shake.", + "Shake the smooth yellow plastic bottle after lifting it.", + "Grip the bottle with white cap using the right arm and shake.", + "Grab and shake the yellow bottle with cylindrical cap using the right arm.", + "Lift the yellow body bottle with the right arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Secure the yellow bottle with green label and perform a shake.", + "Shake the rectangular bottle after holding it firmly.", + "Lift up the bottle with green and white label using the right arm, then shake.", + "Catch the smooth yellow plastic bottle and shake it instantly.", + "Hold the bottle with white cap, shake it briefly.", + "Grasp the yellow bottle with the right arm and shake it.", + "Grab the rectangular bottle with the right arm and shake.", + "Pick up the yellow bottle and shake it.", + "Pick the smooth yellow plastic bottle, shake it with the right arm.", + "Hold the yellow body bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the smooth yellow plastic bottle and shake it.", + "Grab the rectangular bottle and shake it steadily.", + "Grab the yellow bottle with cylindrical cap carefully and shake.", + "Lift the yellow bottle with cylindrical cap with the right arm and shake it.", + "Pick the smooth yellow plastic bottle and perform shaking motion.", + "Pick the bottle with white cap up using the right arm and shake it.", + "Hold the yellow bottle with green label and shake it properly.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Lift the handheld bottle and shake it gently.", + "Shake the yellow bottle with flower design thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle for liquids.", + "Secure the yellow bottle with cylindrical cap, shake it, and place it down.", + "With the right arm, pick the yellow bottle with green label and shake properly.", + "Use the right arm to lift and shake the yellow bottle.", + "Lift the bottle with green and white label with the right arm and give it a shake.", + "Grab the yellow bottle and give it a shake.", + "Grab the rectangular bottle firmly, shake it, and put it down.", + "Shake the smooth yellow plastic bottle firmly after grabbing.", + "Take the yellow bottle with flower design using the right arm and give it a shake.", + "Use the right arm to grab the rectangular bottle and shake properly.", + "Hold and shake the the plastic bottle carefully.", + "Hold the yellow body bottle steady, then shake it.", + "Shake the yellow body bottle using the right arm after grabbing.", + "Use the right arm to hold the yellow bottle and shake it.", + "Shake the the smooth yellow plastic bottle properly after lifting.", + "Use the right arm to grab the bottle for liquids and shake it.", + "Use the right arm to pick and shake the yellow bottle with cylindrical cap.", + "Grab the yellow body bottle using the right arm, then shake.", + "Lift the handheld bottle and shake it thoroughly.", + "Pick up the rectangular bottle and shake it well.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the bottle for liquids.", + "Pick the yellow bottle up with the right arm and shake.", + "Using the right arm, shake the yellow bottle with green label and then place it back.", + "Grab the bottle with white cap and move it to shake.", + "Shake the yellow bottle with cylindrical cap after lifting it.", + "Grip the yellow bottle with cylindrical cap using the right arm and shake.", + "Grab and shake the bottle with white cap using the right arm.", + "Lift the rectangular bottle with the right arm and shake.", + "Shake the bottle with green and white label after grabbing it.", + "Secure the bottle with white cap and perform a shake.", + "Shake the handheld bottle after holding it firmly.", + "Lift up the yellow body bottle using the right arm, then shake.", + "Catch the handheld bottle and shake it instantly.", + "Hold the rectangular bottle, shake it briefly.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Grab the bottle with white cap with the right arm and shake.", + "Pick up the yellow bottle with flower design and shake it.", + "Pick the rectangular bottle, shake it with the right arm.", + "Hold the rectangular bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the rectangular bottle and shake it.", + "Grab the smooth yellow plastic bottle and shake it steadily.", + "Grab the handheld bottle carefully and shake.", + "Lift the handheld bottle with the right arm and shake it.", + "Pick the handheld bottle and perform shaking motion.", + "Pick the bottle with white cap up using the right arm and shake it.", + "Hold the smooth yellow plastic bottle and shake it properly.", + "Shake the yellow bottle after grabbing it.", + "Lift the bottle with green and white label and shake it gently.", + "Shake the yellow body bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Secure the bottle for liquids, shake it, and place it down.", + "With the right arm, pick the yellow bottle with flower design and shake properly.", + "Use the right arm to lift and shake the yellow bottle with green label.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Grab the bottle for liquids and give it a shake.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Shake the yellow bottle firmly after grabbing.", + "Take the rectangular bottle using the right arm and give it a shake.", + "Use the right arm to grab the bottle with green and white label and shake properly.", + "Hold and shake the the bottle for liquids carefully.", + "Hold the yellow body bottle steady, then shake it.", + "Shake the yellow body bottle using the right arm after grabbing.", + "Use the right arm to hold the smooth yellow plastic bottle and shake it.", + "Shake the the yellow bottle with flower design properly after lifting.", + "Use the right arm to grab the yellow body bottle and shake it.", + "Use the right arm to pick and shake the bottle with white cap.", + "Grab the bottle with white cap using the right arm, then shake.", + "Lift the bottle with white cap and shake it thoroughly.", + "Pick up the yellow bottle with green label and shake it well." + ], + "unseen": [ + "Pick up the bottle with printed label and shake it.", + "Use the right arm to pick the medium bottle.", + "Grab the medium bottle and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Shake the medium bottle after picking it with the right arm.", + "Pick and shake the the medium bottle with the right arm.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to pick the medium bottle.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with printed label and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with printed label and shake it.", + "Shake the medium bottle after picking it with the right arm.", + "Pick and shake the the bottle with printed label with the right arm.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick and shake the the medium bottle with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Shake the medium bottle after picking it with the right arm.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to pick the medium bottle.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick and shake the the bottle with printed label with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with printed label and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and shake it.", + "Shake the medium bottle after picking it with the right arm.", + "Pick and shake the the bottle with printed label with the right arm.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to pick the medium bottle.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the medium bottle and shake it.", + "Shake the medium bottle after picking it with the right arm.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with printed label with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode271.json b/shake_bottle/ur5_randomized_500/instructions/episode271.json new file mode 100644 index 0000000000000000000000000000000000000000..e26fdcdd47643d6252b50bb2ac7d39970fa671fd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode271.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the green bottle firmly, shake it, and put it down.", + "Hold and shake the the bottle with yellow cap carefully.", + "Lift the green bottle with white label with the left arm and give it a shake.", + "Use the left arm to pick and shake the green bottle with black text label.", + "Grip the plastic bottle using the left arm and shake.", + "Pick the plastic bottle with colored label up using the left arm and shake it.", + "Use the left arm to grab the handheld plastic bottle and shake it.", + "Use the left arm to lift and shake the green bottle with black text label.", + "Shake the cylindrical bottle with rounded cap firmly after grabbing.", + "Pick up the cylindrical bottle with rounded cap and shake it well.", + "Lift the cylindrical liquid bottle with yellow top with the left arm and shake.", + "Pick the medium bottle with green body up with the left arm and shake.", + "Grab the green bottle with white label and shake it steadily.", + "Shake the green bottle after grabbing it.", + "Grab the green bottle with white label using the left arm, then shake.", + "Grab the green bottle and give it a shake.", + "Grasp the green bottle with the left arm and shake it.", + "Grab the medium bottle with green body carefully and shake.", + "Secure the green bottle with white label and perform a shake.", + "Shake the the bottle with glossy plastic finish properly after lifting.", + "Using the left arm, shake the bottle with glossy plastic finish and then place it back.", + "Shake the green bottle with black text label after lifting it.", + "Catch the medium bottle with green body and shake it instantly.", + "Pick the bottle with yellow cap, shake it with the left arm.", + "Use the left arm to hold the smooth green and yellow bottle and shake it.", + "With the left arm, pick the cylindrical liquid bottle with yellow top and shake properly.", + "Shake the handheld plastic bottle after grabbing it.", + "Hold the bottle with yellow cap, shake it briefly.", + "Lift the green bottle with white label with the left arm and shake it.", + "Shake the green bottle with black text label thoroughly after grabbing it.", + "Use the left arm to grab the bottle with yellow cap and shake properly.", + "Secure the smooth green and yellow bottle, shake it, and place it down.", + "Pick up the cylindrical bottle with rounded cap and shake it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Lift the green bottle with black text label and shake it thoroughly.", + "Shake the smooth green and yellow bottle after holding it firmly.", + "Hold the plastic bottle with colored label steady, then shake it.", + "Shake the green bottle with white label using the left arm after grabbing.", + "Use the left arm to lift and shake the handheld plastic bottle.", + "Hold the cylindrical liquid bottle with yellow top with the left arm and shake lightly.", + "Grab the green bottle with white label and move it to shake.", + "Lift the bottle with glossy plastic finish and shake it gently.", + "Pick the green bottle and perform shaking motion.", + "Grab and shake the cylindrical bottle with rounded cap using the left arm.", + "Grab the smooth green and yellow bottle with the left arm and shake.", + "Hold the handheld plastic bottle and shake it properly.", + "Use the left arm to lift and shake the medium bottle with green body.", + "Lift up the bottle with glossy plastic finish using the left arm, then shake.", + "Utilize the left arm to hold the green bottle with white label and shake it.", + "Shake the bottle with glossy plastic finish after grabbing it.", + "Grab the smooth green and yellow bottle firmly, shake it, and put it down.", + "Hold and shake the the medium bottle with green body carefully.", + "Lift the cylindrical liquid bottle with yellow top with the left arm and give it a shake.", + "Use the left arm to pick and shake the smooth green and yellow bottle.", + "Grip the cylindrical bottle with rounded cap using the left arm and shake.", + "Pick the green bottle up using the left arm and shake it.", + "Use the left arm to grab the plastic bottle with colored label and shake it.", + "Use the left arm to lift and shake the bottle with glossy plastic finish.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Pick up the cylindrical liquid bottle with yellow top and shake it well.", + "Lift the green bottle with black text label with the left arm and shake.", + "Pick the green bottle with black text label up with the left arm and shake.", + "Grab the medium bottle with green body and shake it steadily.", + "Shake the medium bottle with green body after grabbing it.", + "Grab the green bottle with white label using the left arm, then shake.", + "Grab the bottle with glossy plastic finish and give it a shake.", + "Grasp the bottle with yellow cap with the left arm and shake it.", + "Grab the smooth green and yellow bottle carefully and shake.", + "Secure the plastic bottle and perform a shake.", + "Shake the the smooth green and yellow bottle properly after lifting.", + "Using the left arm, shake the cylindrical liquid bottle with yellow top and then place it back.", + "Shake the green bottle with white label after lifting it.", + "Catch the green bottle with white label and shake it instantly.", + "Pick the bottle with yellow cap, shake it with the left arm.", + "Use the left arm to hold the green bottle with black text label and shake it.", + "With the left arm, pick the cylindrical liquid bottle with yellow top and shake properly.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Hold the plastic bottle with colored label, shake it briefly.", + "Lift the handheld plastic bottle with the left arm and shake it.", + "Shake the medium bottle with green body thoroughly after grabbing it.", + "Use the left arm to grab the smooth green and yellow bottle and shake properly.", + "Secure the cylindrical bottle with rounded cap, shake it, and place it down.", + "Pick up the medium bottle with green body and shake it.", + "Take the plastic bottle with colored label using the left arm and give it a shake.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Shake the cylindrical bottle with rounded cap after holding it firmly.", + "Hold the green bottle steady, then shake it.", + "Shake the green bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the green bottle with white label.", + "Hold the bottle with glossy plastic finish with the left arm and shake lightly.", + "Grab the smooth green and yellow bottle and move it to shake.", + "Lift the plastic bottle with colored label and shake it gently.", + "Pick the medium bottle with green body and perform shaking motion.", + "Grab and shake the smooth green and yellow bottle using the left arm.", + "Grab the green bottle with the left arm and shake.", + "Hold the smooth green and yellow bottle and shake it properly.", + "Use the left arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Lift up the cylindrical bottle with rounded cap using the left arm, then shake.", + "Utilize the left arm to hold the green bottle and shake it.", + "Shake the smooth green and yellow bottle after grabbing it." + ], + "unseen": [ + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Pick up the medium-sized drink bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode272.json b/shake_bottle/ur5_randomized_500/instructions/episode272.json new file mode 100644 index 0000000000000000000000000000000000000000..0626d7df65d412d3d8cd47e6badeaf06adaefd33 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode272.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with orange cap carefully and shake.", + "Grab the yellow label bottle and move it to shake.", + "Use the right arm to lift and shake the drinking bottle with yellow label.", + "Hold the orange bottle, shake it briefly.", + "Secure the yellow label bottle, shake it, and place it down.", + "Use the right arm to lift and shake the orange bottle.", + "Lift the bottle with orange cap with the right arm and shake.", + "Shake the yellow label bottle after grabbing it.", + "Use the right arm to grab the yellow label bottle and shake properly.", + "Using the right arm, shake the orange bottle and then place it back.", + "Pick the white and orange plastic bottle, shake it with the right arm.", + "Shake the medium orange bottle after holding it firmly.", + "Shake the bottle with ribbed orange bottom using the right arm after grabbing.", + "Hold the cylindrical orange and white bottle and shake it properly.", + "Use the right arm to pick and shake the medium orange bottle.", + "Lift the white and orange plastic bottle with the right arm and give it a shake.", + "Use the right arm to hold the orange and white bottle with cap and shake it.", + "Grab the orange bottle and give it a shake.", + "Grasp the orange and white bottle with cap with the right arm and shake it.", + "Secure the drinking bottle with yellow label and perform a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Grab and shake the orange bottle using the right arm.", + "Pick up the bottle with orange cap and shake it.", + "With the right arm, pick the medium bottle with orange lid and shake properly.", + "Lift the yellow label bottle and shake it thoroughly.", + "Hold the orange bottle steady, then shake it.", + "Shake the white and orange plastic bottle after lifting it.", + "Grab the bottle with ribbed orange bottom and shake it steadily.", + "Shake the medium bottle with orange lid firmly after grabbing.", + "Catch the plastic bottle and shake it instantly.", + "Pick up the bottle with ribbed orange bottom and shake it well.", + "Take the bottle with ribbed orange bottom using the right arm and give it a shake.", + "Pick the yellow label bottle up using the right arm and shake it.", + "Grab the orange and white bottle with cap firmly, shake it, and put it down.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the orange bottle after grabbing it.", + "Grab the orange and white bottle with cap using the right arm, then shake.", + "Pick the cylindrical orange and white bottle up with the right arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Use the right arm to grab the bottle with orange cap and shake it.", + "Use the right arm to lift and shake the medium orange bottle.", + "Utilize the right arm to hold the yellow label bottle and shake it.", + "Shake the the drinking bottle with yellow label properly after lifting.", + "Lift the drinking bottle with yellow label with the right arm and shake it.", + "Lift up the bottle with ribbed orange bottom using the right arm, then shake.", + "Pick the medium orange bottle and perform shaking motion.", + "Shake the medium bottle with orange lid after grabbing it.", + "Hold and shake the the smooth plastic bottle carefully.", + "Grab the bottle with orange cap with the right arm and shake.", + "Hold the white and orange plastic bottle with the right arm and shake lightly.", + "Grab the white and orange plastic bottle carefully and shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Use the right arm to lift and shake the medium orange bottle.", + "Hold the orange bottle, shake it briefly.", + "Secure the medium orange bottle, shake it, and place it down.", + "Use the right arm to lift and shake the white and orange plastic bottle.", + "Lift the medium bottle with orange lid with the right arm and shake.", + "Shake the orange and white bottle with cap after grabbing it.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Using the right arm, shake the cylindrical orange and white bottle and then place it back.", + "Pick the orange and white bottle with cap, shake it with the right arm.", + "Shake the yellow label bottle after holding it firmly.", + "Shake the bottle with orange cap using the right arm after grabbing.", + "Hold the bottle with orange cap and shake it properly.", + "Use the right arm to pick and shake the bottle with orange cap.", + "Lift the yellow label bottle with the right arm and give it a shake.", + "Use the right arm to hold the bottle with orange cap and shake it.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Grasp the orange and white bottle with cap with the right arm and shake it.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Grab and shake the orange bottle using the right arm.", + "Pick up the medium bottle with orange lid and shake it.", + "With the right arm, pick the bottle with orange cap and shake properly.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Hold the cylindrical orange and white bottle steady, then shake it.", + "Shake the orange and white bottle with cap after lifting it.", + "Grab the orange bottle and shake it steadily.", + "Shake the cylindrical orange and white bottle firmly after grabbing.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Pick up the medium bottle with orange lid and shake it well.", + "Take the bottle with orange cap using the right arm and give it a shake.", + "Pick the bottle with ribbed orange bottom up using the right arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the yellow label bottle thoroughly after grabbing it.", + "Shake the orange and white bottle with cap after grabbing it.", + "Grab the plastic bottle using the right arm, then shake.", + "Pick the yellow label bottle up with the right arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Use the right arm to grab the cylindrical orange and white bottle and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Lift up the orange bottle using the right arm, then shake.", + "Pick the orange bottle and perform shaking motion.", + "Shake the bottle with orange cap after grabbing it.", + "Hold and shake the the yellow label bottle carefully.", + "Grab the orange bottle with the right arm and shake.", + "Hold the orange bottle with the right arm and shake lightly." + ], + "unseen": [ + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with curved body with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the right arm and shake.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Pick up the curvy orange bottle with white section and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode273.json b/shake_bottle/ur5_randomized_500/instructions/episode273.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb6855d704b85639cf7a5baba967358b3a1afec --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode273.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with screw cap using the right arm, then shake.", + "Pick the yellow bottle with dark label up using the right arm and shake it.", + "Pick the plastic bottle up with the right arm and shake.", + "Secure the bottle with screw cap and perform a shake.", + "Use the right arm to hold the medium-sized bottle and shake it.", + "Shake the yellow bottle with blue label firmly after grabbing.", + "Grab the yellow bottle for liquid storage with the right arm and shake.", + "Shake the plastic bottle with curved sides after holding it firmly.", + "Lift the medium-sized bottle with the right arm and give it a shake.", + "Hold the yellow bottle with blue label, shake it briefly.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Hold and shake the the plastic bottle carefully.", + "Take the plastic bottle with curved sides using the right arm and give it a shake.", + "Use the right arm to lift and shake the handheld curvy bottle.", + "Pick the yellow bottle and perform shaking motion.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Grasp the plastic bottle with curved sides with the right arm and shake it.", + "Use the right arm to grab the medium-sized bottle and shake properly.", + "Pick up the medium-sized bottle and shake it well.", + "Lift the plastic bottle with curved sides and shake it thoroughly.", + "Use the right arm to pick and shake the plastic bottle with curved sides.", + "Grab the plastic bottle with curved sides carefully and shake.", + "Pick the medium plastic bottle with cap, shake it with the right arm.", + "Hold the bottle with screw cap with the right arm and shake lightly.", + "Lift the yellow bottle with blue label with the right arm and shake it.", + "Grip the medium plastic bottle with cap using the right arm and shake.", + "Catch the handheld curvy bottle and shake it instantly.", + "Utilize the right arm to hold the medium-sized bottle and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick up the handheld curvy bottle and shake it.", + "Using the right arm, shake the bottle with screw cap and then place it back.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to grab the yellow bottle for liquid storage and shake it.", + "Grab the plastic bottle and give it a shake.", + "Hold the medium-sized bottle and shake it properly.", + "With the right arm, pick the yellow bottle with blue label and shake properly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the bottle with screw cap and move it to shake.", + "Shake the yellow bottle after grabbing it.", + "Shake the bottle for liquid after lifting it.", + "Lift the medium plastic bottle with cap with the right arm and shake.", + "Lift the yellow bottle with blue label and shake it gently.", + "Grab the yellow bottle with blue label and shake it steadily.", + "Lift up the medium-sized bottle using the right arm, then shake.", + "Hold the yellow bottle with blue label steady, then shake it.", + "Shake the the medium plastic bottle with cap properly after lifting.", + "Grab the yellow bottle using the right arm, then shake.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Pick the handheld curvy bottle up with the right arm and shake.", + "Secure the yellow bottle and perform a shake.", + "Use the right arm to hold the plastic bottle and shake it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Shake the bottle with screw cap after holding it firmly.", + "Lift the yellow bottle with blue label with the right arm and give it a shake.", + "Hold the bottle for liquid, shake it briefly.", + "Shake the yellow bottle with dark label after grabbing it.", + "Hold and shake the the plastic bottle carefully.", + "Take the plastic bottle with curved sides using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the medium-sized bottle using the right arm after grabbing.", + "Shake the handheld curvy bottle after grabbing it.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Grasp the yellow bottle with dark label with the right arm and shake it.", + "Use the right arm to grab the yellow bottle with blue label and shake properly.", + "Pick up the smooth plastic bottle and shake it well.", + "Lift the yellow bottle with blue label and shake it thoroughly.", + "Use the right arm to pick and shake the yellow bottle.", + "Grab the medium plastic bottle with cap carefully and shake.", + "Pick the yellow bottle, shake it with the right arm.", + "Hold the bottle with screw cap with the right arm and shake lightly.", + "Lift the plastic bottle with curved sides with the right arm and shake it.", + "Grip the plastic bottle with curved sides using the right arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Utilize the right arm to hold the handheld curvy bottle and shake it.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Pick up the medium plastic bottle with cap and shake it.", + "Using the right arm, shake the yellow bottle with dark label and then place it back.", + "Grab the bottle for liquid firmly, shake it, and put it down.", + "Grab and shake the medium plastic bottle with cap using the right arm.", + "Secure the medium plastic bottle with cap, shake it, and place it down.", + "Use the right arm to grab the medium-sized bottle and shake it.", + "Grab the bottle with screw cap and give it a shake.", + "Hold the handheld curvy bottle and shake it properly.", + "With the right arm, pick the plastic bottle with curved sides and shake properly.", + "Shake the medium plastic bottle with cap thoroughly after grabbing it.", + "Grab the yellow bottle with blue label and move it to shake.", + "Shake the handheld curvy bottle after grabbing it.", + "Shake the bottle for liquid after lifting it.", + "Lift the yellow bottle with dark label with the right arm and shake.", + "Lift the handheld curvy bottle and shake it gently.", + "Grab the bottle with screw cap and shake it steadily.", + "Lift up the plastic bottle using the right arm, then shake.", + "Hold the yellow bottle for liquid storage steady, then shake it.", + "Shake the the plastic bottle with curved sides properly after lifting." + ], + "unseen": [ + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode274.json b/shake_bottle/ur5_randomized_500/instructions/episode274.json new file mode 100644 index 0000000000000000000000000000000000000000..80bb1f35387ae7c06365506dbc4399ecda219a89 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode274.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle for liquids with the left arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the left arm to grab the plastic bottle with sealed yellow cap and shake it.", + "Hold and shake the the medium-sized orange bottle carefully.", + "Grab the orange cylindrical bottle and move it to shake.", + "Use the left arm to hold the cylindrical orange bottle with yellow top and shake it.", + "With the left arm, pick the orange bottle and shake properly.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Using the left arm, shake the orange cylindrical bottle and then place it back.", + "Grab the yellow-capped plastic bottle with the left arm and shake.", + "Hold the yellow-capped plastic bottle, shake it briefly.", + "Grab the bottle with narrow neck carefully and shake.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Utilize the left arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Lift the plastic bottle and shake it gently.", + "Shake the bottle with narrow neck using the left arm after grabbing.", + "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.", + "Hold the bottle for liquids and shake it properly.", + "Shake the bottle with printed label after holding it firmly.", + "Shake the medium-sized orange bottle after grabbing it.", + "Secure the yellow-capped plastic bottle and perform a shake.", + "Lift up the yellow-capped plastic bottle using the left arm, then shake.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "Grasp the yellow-capped plastic bottle with the left arm and shake it.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Shake the plastic bottle after lifting it.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Use the left arm to pick and shake the orange bottle.", + "Pick the bottle with printed label up with the left arm and shake.", + "Take the bottle with printed label using the left arm and give it a shake.", + "Grip the bottle for liquids using the left arm and shake.", + "Lift the orange cylindrical bottle with the left arm and give it a shake.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Use the left arm to lift and shake the orange bottle.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to grab the orange bottle and shake properly.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Shake the bottle with narrow neck after grabbing it.", + "Grab the bottle with narrow neck using the left arm, then shake.", + "Grab the bottle with printed label and shake it steadily.", + "Pick up the orange bottle and shake it well.", + "Hold the medium-sized orange bottle steady, then shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the medium-sized orange bottle up using the left arm and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Pick the bottle for liquids, shake it with the left arm.", + "Use the left arm to lift and shake the orange cylindrical bottle.", + "Lift the medium-sized orange bottle with the left arm and shake.", + "Catch the bottle with narrow neck and shake it instantly.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Hold and shake the the bottle with narrow neck carefully.", + "Grab the bottle for liquids and move it to shake.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Using the left arm, shake the plastic bottle with sealed yellow cap and then place it back.", + "Grab the medium-sized orange bottle with the left arm and shake.", + "Hold the bottle with narrow neck, shake it briefly.", + "Grab the cylindrical orange bottle with yellow top carefully and shake.", + "Pick the bottle with printed label and perform shaking motion.", + "Utilize the left arm to hold the orange cylindrical bottle and shake it.", + "Lift the cylindrical orange bottle with yellow top and shake it gently.", + "Shake the bottle for liquids using the left arm after grabbing.", + "Lift the bottle with yellow cap with the left arm and shake it.", + "Hold the orange bottle and shake it properly.", + "Shake the bottle with yellow cap after holding it firmly.", + "Shake the bottle with yellow cap after grabbing it.", + "Secure the orange bottle and perform a shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Secure the bottle with printed label, shake it, and place it down.", + "Grasp the bottle with yellow cap with the left arm and shake it.", + "Shake the bottle with narrow neck firmly after grabbing.", + "Shake the plastic bottle after lifting it.", + "Pick up the bottle with yellow cap and shake it.", + "Use the left arm to pick and shake the bottle with narrow neck.", + "Pick the yellow-capped plastic bottle up with the left arm and shake.", + "Take the bottle with yellow cap using the left arm and give it a shake.", + "Grip the orange bottle using the left arm and shake.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Grab the bottle for liquids using the left arm, then shake.", + "Grab the yellow-capped plastic bottle and shake it steadily.", + "Pick up the smooth plastic bottle and shake it well.", + "Hold the bottle with narrow neck steady, then shake it.", + "Use the left arm to lift and shake the bottle for liquids.", + "Pick the bottle with yellow cap up using the left arm and shake it.", + "Grab the medium-sized orange bottle and give it a shake.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the medium-sized orange bottle." + ], + "unseen": [ + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick up the orange bottle with smooth texture and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode275.json b/shake_bottle/ur5_randomized_500/instructions/episode275.json new file mode 100644 index 0000000000000000000000000000000000000000..4f136b8756cab716d35d16c19cfb37ab1051ad29 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode275.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the plastic bottle and perform a shake.", + "Secure the rectangular bottle, shake it, and place it down.", + "Lift the bottle with green and white label with the right arm and shake.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Shake the smooth yellow plastic bottle thoroughly after grabbing it.", + "Grab the smooth yellow plastic bottle carefully and shake.", + "Utilize the right arm to hold the rectangular bottle and shake it.", + "Pick the yellow bottle with flower design, shake it with the right arm.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Shake the bottle with white cap after grabbing it.", + "With the right arm, pick the smooth yellow plastic bottle and shake properly.", + "Use the right arm to grab the handheld bottle and shake it.", + "Grab the yellow bottle with green label and move it to shake.", + "Hold the yellow bottle, shake it briefly.", + "Hold the bottle with green and white label and shake it properly.", + "Use the right arm to lift and shake the rectangular bottle.", + "Pick the yellow bottle up using the right arm and shake it.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Use the right arm to lift and shake the handheld bottle.", + "Lift the yellow bottle with green label and shake it thoroughly.", + "Pick the yellow bottle with cylindrical cap up with the right arm and shake.", + "Hold the yellow bottle with the right arm and shake lightly.", + "Grab the bottle with green and white label and shake it steadily.", + "Pick up the bottle for liquids and shake it well.", + "Grab the yellow bottle and give it a shake.", + "Shake the yellow body bottle using the right arm after grabbing.", + "Pick up the bottle with white cap and shake it.", + "Grab the yellow bottle with cylindrical cap firmly, shake it, and put it down.", + "Use the right arm to grab the bottle with green and white label and shake properly.", + "Grip the yellow body bottle using the right arm and shake.", + "Grasp the yellow bottle with cylindrical cap with the right arm and shake it.", + "Pick the yellow body bottle and perform shaking motion.", + "Shake the yellow bottle with green label firmly after grabbing.", + "Shake the bottle with green and white label after grabbing it.", + "Lift the smooth yellow plastic bottle and shake it gently.", + "Hold and shake the the bottle with white cap carefully.", + "Shake the yellow bottle after lifting it.", + "Catch the smooth yellow plastic bottle and shake it instantly.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Hold the yellow bottle with cylindrical cap steady, then shake it.", + "Shake the the bottle for liquids properly after lifting.", + "Use the right arm to lift and shake the bottle with white cap.", + "Grab the bottle with green and white label with the right arm and shake.", + "Use the right arm to pick and shake the yellow bottle with flower design.", + "Grab and shake the smooth yellow plastic bottle using the right arm.", + "Grab the yellow bottle with green label using the right arm, then shake.", + "Lift the rectangular bottle with the right arm and give it a shake.", + "Take the yellow body bottle using the right arm and give it a shake.", + "Shake the smooth yellow plastic bottle after holding it firmly.", + "Secure the yellow bottle with flower design and perform a shake.", + "Secure the smooth yellow plastic bottle, shake it, and place it down.", + "Lift the yellow bottle with the right arm and shake.", + "Using the right arm, shake the yellow bottle with flower design and then place it back.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Grab the yellow bottle carefully and shake.", + "Utilize the right arm to hold the yellow body bottle and shake it.", + "Pick the yellow bottle with flower design, shake it with the right arm.", + "Lift the yellow bottle with the right arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the yellow bottle with green label after grabbing it.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Use the right arm to grab the yellow body bottle and shake it.", + "Grab the yellow bottle with green label and move it to shake.", + "Hold the bottle with green and white label, shake it briefly.", + "Hold the bottle with green and white label and shake it properly.", + "Use the right arm to lift and shake the yellow bottle with flower design.", + "Pick the yellow body bottle up using the right arm and shake it.", + "Use the right arm to hold the handheld bottle and shake it.", + "Use the right arm to lift and shake the yellow bottle.", + "Lift the yellow body bottle and shake it thoroughly.", + "Pick the rectangular bottle up with the right arm and shake.", + "Hold the yellow bottle with flower design with the right arm and shake lightly.", + "Grab the handheld bottle and shake it steadily.", + "Pick up the smooth yellow plastic bottle and shake it well.", + "Grab the yellow bottle with green label and give it a shake.", + "Shake the yellow bottle using the right arm after grabbing.", + "Pick up the rectangular bottle and shake it.", + "Grab the handheld bottle firmly, shake it, and put it down.", + "Use the right arm to grab the yellow bottle and shake properly.", + "Grip the yellow bottle with flower design using the right arm and shake.", + "Grasp the smooth yellow plastic bottle with the right arm and shake it.", + "Pick the bottle with green and white label and perform shaking motion.", + "Shake the yellow bottle with flower design firmly after grabbing.", + "Shake the bottle with white cap after grabbing it.", + "Lift the yellow bottle with green label and shake it gently.", + "Hold and shake the the plastic bottle carefully.", + "Shake the handheld bottle after lifting it.", + "Catch the rectangular bottle and shake it instantly.", + "Lift up the yellow bottle using the right arm, then shake.", + "Hold the plastic bottle steady, then shake it.", + "Shake the the bottle with green and white label properly after lifting.", + "Use the right arm to lift and shake the smooth yellow plastic bottle.", + "Grab the smooth yellow plastic bottle with the right arm and shake.", + "Use the right arm to pick and shake the yellow body bottle.", + "Grab and shake the rectangular bottle using the right arm.", + "Grab the smooth yellow plastic bottle using the right arm, then shake.", + "Lift the bottle with green and white label with the right arm and give it a shake.", + "Take the yellow bottle with cylindrical cap using the right arm and give it a shake.", + "Shake the smooth yellow plastic bottle after holding it firmly." + ], + "unseen": [ + "Shake the bottle with rounded edges after picking it with the right arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the right arm to grab the medium bottle and shake.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick and shake the the medium bottle with the right arm.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Use the right arm to grab the medium bottle and shake.", + "Pick and shake the the medium bottle with the right arm.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the right arm to pick the bottle with printed label.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and give it a shake.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the right arm to pick the bottle with printed label.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the bottle with printed label and shake it.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and give it a shake.", + "Use the right arm to grab the medium bottle and shake.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Shake the medium bottle after picking it with the right arm.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick and shake the the medium bottle with the right arm.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Shake the medium bottle after picking it with the right arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Use the right arm to grab the medium bottle and shake.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the right arm to pick the medium bottle.", + "Grab the medium bottle and shake it.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Shake the bottle with printed label after picking it with the right arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and give it a shake.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Shake the medium bottle after picking it with the right arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and give it a shake.", + "Use the right arm to grab the medium bottle and shake.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with printed label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode276.json b/shake_bottle/ur5_randomized_500/instructions/episode276.json new file mode 100644 index 0000000000000000000000000000000000000000..9b3ebe19532ffc2d9294bac839d2263f2f203849 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode276.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the handheld brown bottle with white lid using the left arm and give it a shake.", + "Use the left arm to hold the rounded bottle with printed details and shake it.", + "Pick the bottle with white cap up with the left arm and shake.", + "Use the left arm to pick and shake the bottle with white cap.", + "Use the left arm to grab the bottle with brown body and white top and shake it.", + "Grab the rounded bottle with printed details firmly, shake it, and put it down.", + "Grab the plastic bottle for liquids and move it to shake.", + "Shake the plastic bottle with printed label after grabbing it.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Utilize the left arm to hold the bottle with brown body and white top and shake it.", + "Use the left arm to grab the rounded bottle with printed details and shake properly.", + "Use the left arm to lift and shake the bottle with white cap.", + "Grab and shake the bottle with white cap using the left arm.", + "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.", + "Shake the bottle with white cap firmly after grabbing.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Shake the plastic bottle for liquids using the left arm after grabbing.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Pick the medium plastic bottle, shake it with the left arm.", + "Secure the rounded bottle with printed details and perform a shake.", + "Shake the plastic bottle for liquids thoroughly after grabbing it.", + "Hold the medium bottle with smooth texture with the left arm and shake lightly.", + "Using the left arm, shake the smooth brown bottle and then place it back.", + "Lift the bottle with white cap and shake it gently.", + "Shake the plastic bottle for liquids after lifting it.", + "Grip the cylindrical bottle with narrow neck using the left arm and shake.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grab the smooth brown bottle using the left arm, then shake.", + "Grab the white-capped brown cylindrical bottle with the left arm and shake.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Shake the plastic bottle for liquids after grabbing it.", + "With the left arm, pick the bottle with brown body and white top and shake properly.", + "Hold the plastic bottle with printed label steady, then shake it.", + "Grab the bottle with dark brown color and give it a shake.", + "Hold and shake the the bottle with dark brown color carefully.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Pick up the bottle with white cap and shake it well.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Grab the bottle with white cap and shake it steadily.", + "Grasp the rounded bottle with printed details with the left arm and shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Lift the bottle with white cap with the left arm and shake.", + "Pick the smooth brown bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Grab the bottle with brown body and white top carefully and shake.", + "Lift the plastic bottle with printed label with the left arm and shake it.", + "Take the plastic bottle for liquids using the left arm and give it a shake.", + "Use the left arm to hold the rounded bottle with printed details and shake it.", + "Pick the smooth brown bottle up with the left arm and shake.", + "Use the left arm to pick and shake the rounded bottle with printed details.", + "Use the left arm to grab the plastic bottle for liquids and shake it.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Grab the handheld brown bottle with white lid and move it to shake.", + "Shake the bottle with white cap after grabbing it.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Utilize the left arm to hold the plastic bottle with printed label and shake it.", + "Use the left arm to grab the medium bottle with smooth texture and shake properly.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Grab and shake the medium plastic bottle using the left arm.", + "Lift up the plastic bottle with printed label using the left arm, then shake.", + "Shake the bottle with dark brown color firmly after grabbing.", + "Catch the medium plastic bottle and shake it instantly.", + "Shake the bottle with brown body and white top using the left arm after grabbing.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Lift the white-capped brown cylindrical bottle with the left arm and give it a shake.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Pick the handheld brown bottle with white lid, shake it with the left arm.", + "Secure the plastic bottle for liquids and perform a shake.", + "Shake the plastic bottle for liquids thoroughly after grabbing it.", + "Hold the plastic bottle with printed label with the left arm and shake lightly.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Lift the plastic bottle with printed label and shake it gently.", + "Shake the plastic bottle for liquids after lifting it.", + "Grip the medium plastic bottle using the left arm and shake.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "Grab the white-capped brown cylindrical bottle using the left arm, then shake.", + "Grab the bottle with white cap with the left arm and shake.", + "Pick up the plastic bottle for liquids and shake it.", + "Shake the bottle with dark brown color after grabbing it.", + "With the left arm, pick the handheld brown bottle with white lid and shake properly.", + "Hold the medium plastic bottle steady, then shake it.", + "Grab the smooth brown bottle and give it a shake.", + "Hold and shake the the bottle with dark brown color carefully.", + "Pick the smooth brown bottle and perform shaking motion.", + "Pick up the plastic bottle with printed label and shake it well.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Grab the bottle with dark brown color and shake it steadily.", + "Grasp the plastic bottle for liquids with the left arm and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Lift the rounded bottle with printed details with the left arm and shake.", + "Pick the rounded bottle with printed details up using the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Grab the bottle with brown body and white top carefully and shake.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it." + ], + "unseen": [ + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode277.json b/shake_bottle/ur5_randomized_500/instructions/episode277.json new file mode 100644 index 0000000000000000000000000000000000000000..2d416346b513a892a91aa1f47814b8a3f2e100a8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode277.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Use the left arm to grab the medium black bottle with printed label and shake properly.", + "Grip the black bottle using the left arm and shake.", + "Hold the drink bottle with rounded yellow lid, shake it briefly.", + "Hold the smooth black bottle with ridges with the left arm and shake lightly.", + "Pick up the smooth black bottle with ridges and shake it.", + "Pick up the black plastic bottle with Pepsi logo and shake it well.", + "Lift the black cylindrical bottle with ridges with the left arm and shake it.", + "Take the black bottle using the left arm and give it a shake.", + "Lift the black bottle with the left arm and give it a shake.", + "Lift up the bottle with blue and yellow print using the left arm, then shake.", + "Grab the smooth black bottle with ridges with the left arm and shake.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Grab the drink bottle with rounded yellow lid and shake it steadily.", + "Hold the black cylindrical bottle with ridges and shake it properly.", + "Hold the drink bottle with rounded yellow lid steady, then shake it.", + "Pick the plastic bottle with colorful label, shake it with the left arm.", + "Shake the beverage bottle with black body using the left arm after grabbing.", + "Lift the beverage bottle with black body and shake it gently.", + "Use the left arm to pick and shake the medium black bottle with printed label.", + "Grab and shake the smooth black bottle with ridges using the left arm.", + "Shake the the yellow-capped cylindrical bottle properly after lifting.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Grab the beverage bottle with black body and give it a shake.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "With the left arm, pick the black plastic bottle with Pepsi logo and shake properly.", + "Secure the yellow capped drink bottle and perform a shake.", + "Shake the beverage bottle with black body after grabbing it.", + "Utilize the left arm to hold the yellow capped drink bottle and shake it.", + "Pick the smooth black bottle with ridges up with the left arm and shake.", + "Use the left arm to grab the black cylindrical bottle with ridges and shake it.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Grab the beverage bottle with black body firmly, shake it, and put it down.", + "Using the left arm, shake the drink bottle with rounded yellow lid and then place it back.", + "Shake the bottle with blue and yellow print thoroughly after grabbing it.", + "Shake the medium black bottle with printed label after lifting it.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Grab the medium black bottle with printed label and move it to shake.", + "Grab the drink bottle with rounded yellow lid using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Grasp the beverage bottle with black body with the left arm and shake it.", + "Catch the beverage bottle with black body and shake it instantly.", + "Grab the smooth black bottle with ridges carefully and shake.", + "Use the left arm to hold the plastic bottle with colorful label and shake it.", + "Shake the beverage bottle with black body after holding it firmly.", + "Pick the black plastic bottle with Pepsi logo and perform shaking motion.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Hold and shake the the smooth black bottle with ridges carefully.", + "Pick the medium bottle with yellow cap up using the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Use the left arm to grab the medium black bottle with printed label and shake properly.", + "Grip the black bottle using the left arm and shake.", + "Hold the black bottle, shake it briefly.", + "Hold the medium black bottle with printed label with the left arm and shake lightly.", + "Pick up the drink bottle with rounded yellow lid and shake it.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Lift the smooth black bottle with ridges with the left arm and shake it.", + "Take the yellow-capped cylindrical bottle using the left arm and give it a shake.", + "Lift the yellow-capped cylindrical bottle with the left arm and give it a shake.", + "Lift up the yellow-capped cylindrical bottle using the left arm, then shake.", + "Grab the smooth black bottle with ridges with the left arm and shake.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Grab the medium bottle with yellow cap and shake it steadily.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Hold the bottle with blue and yellow print steady, then shake it.", + "Pick the beverage bottle with black body, shake it with the left arm.", + "Shake the yellow capped drink bottle using the left arm after grabbing.", + "Lift the medium bottle with yellow cap and shake it gently.", + "Use the left arm to pick and shake the plastic bottle with colorful label.", + "Grab and shake the drink bottle with rounded yellow lid using the left arm.", + "Shake the the yellow-capped cylindrical bottle properly after lifting.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "With the left arm, pick the medium bottle with yellow cap and shake properly.", + "Secure the drink bottle with rounded yellow lid and perform a shake.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Utilize the left arm to hold the bottle with blue and yellow print and shake it.", + "Pick the black bottle up with the left arm and shake.", + "Use the left arm to grab the bottle with blue and yellow print and shake it.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.", + "Using the left arm, shake the yellow-capped cylindrical bottle and then place it back.", + "Shake the black bottle thoroughly after grabbing it.", + "Shake the black bottle after lifting it.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Grab the drink bottle with rounded yellow lid and move it to shake.", + "Grab the yellow-capped cylindrical bottle using the left arm, then shake.", + "Use the left arm to lift and shake the medium bottle with yellow cap.", + "Grasp the black bottle with the left arm and shake it.", + "Catch the black bottle and shake it instantly.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Use the left arm to hold the bottle with blue and yellow print and shake it.", + "Shake the yellow capped drink bottle after holding it firmly.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Lift the bottle with blue and yellow print with the left arm and shake.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Hold and shake the the medium bottle with yellow cap carefully.", + "Pick the smooth black bottle with ridges up using the left arm and shake it." + ], + "unseen": [ + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode278.json b/shake_bottle/ur5_randomized_500/instructions/episode278.json new file mode 100644 index 0000000000000000000000000000000000000000..f6c24834c6f6402bcefd9ffed2233b7b2381a15c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode278.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the smooth plastic bottle for beverages carefully.", + "Grasp the green-capped bottle with the left arm and shake it.", + "Grab the plastic bottle with ribbed pattern and move it to shake.", + "Grab the brown bottle and shake it steadily.", + "Pick the bottle with tapered cylindrical shape, shake it with the left arm.", + "Lift the brown bottle and shake it gently.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Pick up the brown bottle and shake it well.", + "Use the left arm to pick and shake the brown bottle.", + "Grab the green-capped bottle and give it a shake.", + "Shake the small drink bottle with logo using the left arm after grabbing.", + "Lift up the small brown plastic bottle using the left arm, then shake.", + "Hold the green-capped bottle, shake it briefly.", + "Hold the bottle with green cap steady, then shake it.", + "Catch the bottle with green cap and shake it instantly.", + "Grab the small brown plastic bottle using the left arm, then shake.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Using the left arm, shake the brown bottle with green screw-on cap and then place it back.", + "Pick the brown bottle with green screw-on cap up using the left arm and shake it.", + "Shake the bottle with green cap after grabbing it.", + "Shake the plastic bottle with ribbed pattern after lifting it.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Grab and shake the cylindrical bottle with white label using the left arm.", + "Lift the brown bottle with green screw-on cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic bottle with ribbed pattern.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Utilize the left arm to hold the brown bottle with white printed label and shake it.", + "Pick the brown bottle up with the left arm and shake.", + "Secure the plastic bottle with ribbed pattern, shake it, and place it down.", + "Shake the cylindrical bottle with white label thoroughly after grabbing it.", + "Grab the brown bottle carefully and shake.", + "Use the left arm to hold the brown bottle and shake it.", + "With the left arm, pick the small brown plastic bottle and shake properly.", + "Hold the brown bottle with white printed label with the left arm and shake lightly.", + "Grip the hand-sized bottle with grooves using the left arm and shake.", + "Shake the green-capped bottle after holding it firmly.", + "Grab the brown bottle with the left arm and shake.", + "Grab the cylindrical bottle with white label firmly, shake it, and put it down.", + "Lift the brown bottle with white printed label and shake it thoroughly.", + "Shake the brown bottle with white printed label firmly after grabbing.", + "Pick up the bottle with tapered cylindrical shape and shake it.", + "Use the left arm to grab the smooth plastic bottle for beverages and shake properly.", + "Use the left arm to grab the small drink bottle with logo and shake it.", + "Pick the plastic bottle with ribbed pattern and perform shaking motion.", + "Take the small brown plastic bottle using the left arm and give it a shake.", + "Shake the the brown bottle with white printed label properly after lifting.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "Lift the small brown plastic bottle with the left arm and shake it.", + "Secure the small brown plastic bottle and perform a shake.", + "Lift the brown bottle with green screw-on cap with the left arm and shake.", + "Hold and shake the the cylindrical bottle with white label carefully.", + "Grasp the green-capped bottle with the left arm and shake it.", + "Grab the brown bottle with white printed label and move it to shake.", + "Grab the small brown plastic bottle and shake it steadily.", + "Pick the small drink bottle with logo, shake it with the left arm.", + "Lift the brown bottle and shake it gently.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Pick up the green-capped bottle and shake it well.", + "Use the left arm to pick and shake the small drink bottle with logo.", + "Grab the smooth plastic bottle for beverages and give it a shake.", + "Shake the plastic bottle with ribbed pattern using the left arm after grabbing.", + "Lift up the bottle with green cap using the left arm, then shake.", + "Hold the smooth plastic bottle for beverages, shake it briefly.", + "Hold the small drink bottle with logo steady, then shake it.", + "Catch the cylindrical bottle with white label and shake it instantly.", + "Grab the small brown plastic bottle using the left arm, then shake.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Using the left arm, shake the cylindrical bottle with white label and then place it back.", + "Pick the smooth plastic bottle for beverages up using the left arm and shake it.", + "Shake the small drink bottle with logo after grabbing it.", + "Shake the smooth plastic bottle for beverages after lifting it.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Grab and shake the cylindrical bottle with white label using the left arm.", + "Lift the brown bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with green cap.", + "Use the left arm to lift and shake the small drink bottle with logo.", + "Utilize the left arm to hold the plastic bottle with ribbed pattern and shake it.", + "Pick the bottle with tapered cylindrical shape up with the left arm and shake.", + "Secure the cylindrical bottle with white label, shake it, and place it down.", + "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.", + "Grab the brown bottle with green screw-on cap carefully and shake.", + "Use the left arm to hold the smooth plastic bottle for beverages and shake it.", + "With the left arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Hold the bottle with tapered cylindrical shape with the left arm and shake lightly.", + "Grip the bottle with green cap using the left arm and shake.", + "Shake the brown bottle with green screw-on cap after holding it firmly.", + "Grab the small drink bottle with logo with the left arm and shake.", + "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.", + "Lift the brown bottle and shake it thoroughly.", + "Shake the plastic bottle with ribbed pattern firmly after grabbing.", + "Pick up the small drink bottle with logo and shake it.", + "Use the left arm to grab the small drink bottle with logo and shake properly.", + "Use the left arm to grab the plastic bottle with ribbed pattern and shake it.", + "Pick the bottle with green cap and perform shaking motion.", + "Take the plastic bottle with ribbed pattern using the left arm and give it a shake.", + "Shake the the hand-sized bottle with grooves properly after lifting.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "Lift the small brown plastic bottle with the left arm and shake it.", + "Secure the brown bottle with green screw-on cap and perform a shake.", + "Lift the cylindrical bottle with white label with the left arm and shake." + ], + "unseen": [ + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode279.json b/shake_bottle/ur5_randomized_500/instructions/episode279.json new file mode 100644 index 0000000000000000000000000000000000000000..887d122809648cba4dbca7f0ee3599857836281d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode279.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle with ghost print carefully and shake.", + "Lift the smooth surface bottle with gray shade and shake it gently.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Lift the rounded body bottle made of plastic and shake it thoroughly.", + "Use the left arm to grab the hand-sized bottle with screw cap and shake it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Hold the bottle shaped like small cylinder steady, then shake it.", + "Use the left arm to hold the light gray colored container bottle and shake it.", + "Using the left arm, shake the milk-bottle shape design and then place it back.", + "Use the left arm to pick and shake the milk-bottle shape design.", + "Secure the medium-sized plastic bottle, shake it, and place it down.", + "Shake the light gray colored container bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth surface bottle with gray shade.", + "Pick the medium cylinder-shaped bottle and perform shaking motion.", + "Pick the milk-bottle shape design up with the left arm and shake.", + "Use the left arm to grab the milk-bottle shape design and shake properly.", + "Hold the plastic bottle with ghost print, shake it briefly.", + "Use the left arm to lift and shake the medium cylinder-shaped bottle.", + "Hold the medium cylinder-shaped bottle with the left arm and shake lightly.", + "Grasp the hand-sized bottle with screw cap with the left arm and shake it.", + "Grab the light gray colored container bottle with the left arm and shake.", + "Grab the light gray colored container bottle using the left arm, then shake.", + "Shake the smooth surface bottle with gray shade using the left arm after grabbing.", + "Grab the rounded body bottle made of plastic firmly, shake it, and put it down.", + "Secure the bottle with cute ghost drawing and perform a shake.", + "Grab the medium-sized plastic bottle and shake it steadily.", + "Pick the milk-bottle shape design, shake it with the left arm.", + "Grab the hand-sized bottle with screw cap and move it to shake.", + "Lift the milk-bottle shape design with the left arm and give it a shake.", + "Pick the plastic bottle with ghost print up using the left arm and shake it.", + "Shake the bottle shaped like small cylinder after holding it firmly.", + "Shake the milk-bottle shape design after grabbing it.", + "Utilize the left arm to hold the gray bottle with slight shine and shake it.", + "Shake the smooth surface bottle with gray shade after lifting it.", + "Pick up the plastic bottle with ghost print and shake it well.", + "Lift up the smooth cylindrical bottle using the left arm, then shake.", + "Lift the smooth surface bottle with gray shade with the left arm and shake it.", + "Shake the smooth surface bottle with gray shade firmly after grabbing.", + "Pick up the milk-bottle shape design and shake it.", + "Shake the the rounded body bottle made of plastic properly after lifting.", + "Grab the bottle shaped like small cylinder and give it a shake.", + "With the left arm, pick the milk-bottle shape design and shake properly.", + "Grip the plastic bottle with ghost print using the left arm and shake.", + "Hold and shake the the rounded body bottle made of plastic carefully.", + "Take the bottle with cute ghost drawing using the left arm and give it a shake.", + "Use the left arm to lift and shake the milk-bottle shape design.", + "Grab and shake the milk-bottle shape design using the left arm.", + "Lift the medium-sized plastic bottle with the left arm and shake.", + "Catch the light gray colored container bottle and shake it instantly.", + "Hold the rounded body bottle made of plastic and shake it properly.", + "Grab the medium-sized plastic bottle carefully and shake.", + "Lift the rounded body bottle made of plastic and shake it gently.", + "Shake the gray bottle with slight shine after grabbing it.", + "Lift the medium cylinder-shaped bottle and shake it thoroughly.", + "Use the left arm to grab the bottle with cute ghost drawing and shake it.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Hold the bottle shaped like small cylinder steady, then shake it.", + "Use the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Using the left arm, shake the smooth surface bottle with gray shade and then place it back.", + "Use the left arm to pick and shake the rounded body bottle made of plastic.", + "Secure the smooth surface bottle with gray shade, shake it, and place it down.", + "Shake the smooth surface bottle with gray shade thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth cylindrical bottle.", + "Pick the bottle with cute ghost drawing and perform shaking motion.", + "Pick the medium-sized plastic bottle up with the left arm and shake.", + "Use the left arm to grab the plastic bottle with ghost print and shake properly.", + "Hold the medium cylinder-shaped bottle, shake it briefly.", + "Use the left arm to lift and shake the smooth surface bottle with gray shade.", + "Hold the light gray colored container bottle with the left arm and shake lightly.", + "Grasp the milk-bottle shape design with the left arm and shake it.", + "Grab the hand-sized bottle with screw cap with the left arm and shake.", + "Grab the gray bottle with slight shine using the left arm, then shake.", + "Shake the smooth surface bottle with gray shade using the left arm after grabbing.", + "Grab the light gray colored container bottle firmly, shake it, and put it down.", + "Secure the smooth cylindrical bottle and perform a shake.", + "Grab the bottle with cute ghost drawing and shake it steadily.", + "Pick the smooth surface bottle with gray shade, shake it with the left arm.", + "Grab the bottle shaped like small cylinder and move it to shake.", + "Lift the smooth surface bottle with gray shade with the left arm and give it a shake.", + "Pick the milk-bottle shape design up using the left arm and shake it.", + "Shake the smooth cylindrical bottle after holding it firmly.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Utilize the left arm to hold the bottle shaped like small cylinder and shake it.", + "Shake the milk-bottle shape design after lifting it.", + "Pick up the rounded body bottle made of plastic and shake it well.", + "Lift up the smooth surface bottle with gray shade using the left arm, then shake.", + "Lift the hand-sized bottle with screw cap with the left arm and shake it.", + "Shake the light gray colored container bottle firmly after grabbing.", + "Pick up the rounded body bottle made of plastic and shake it.", + "Shake the the smooth cylindrical bottle properly after lifting.", + "Grab the hand-sized bottle with screw cap and give it a shake.", + "With the left arm, pick the bottle shaped like small cylinder and shake properly.", + "Grip the smooth surface bottle with gray shade using the left arm and shake.", + "Hold and shake the the medium cylinder-shaped bottle carefully.", + "Take the light gray colored container bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "Grab and shake the plastic bottle with ghost print using the left arm.", + "Lift the light gray colored container bottle with the left arm and shake.", + "Catch the smooth surface bottle with gray shade and shake it instantly.", + "Hold the light gray colored container bottle and shake it properly." + ], + "unseen": [ + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle with the left arm and shake.", + "Grab the light gray bottle and give it a shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle with the left arm and shake.", + "Grab the light gray bottle and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the light gray bottle and shake it.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the light gray bottle and give it a shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the light gray bottle and give it a shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode28.json b/shake_bottle/ur5_randomized_500/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..9d8cabca1d6b4ed2b4385e60d2e98ea09c4c9bfd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the orange bottle with the right arm and shake lightly.", + "Lift the orange cylindrical bottle with the right arm and shake it.", + "Pick the orange cylindrical bottle up with the right arm and shake.", + "Hold the cylindrical orange bottle with yellow top and shake it properly.", + "Grab the medium-sized orange bottle using the right arm, then shake.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Hold the plastic bottle steady, then shake it.", + "Grip the bottle with printed label using the right arm and shake.", + "Grab the medium-sized orange bottle and give it a shake.", + "Use the right arm to hold the orange cylindrical bottle and shake it.", + "Pick the medium-sized orange bottle, shake it with the right arm.", + "Grab the plastic bottle with sealed yellow cap firmly, shake it, and put it down.", + "Shake the medium-sized orange bottle after grabbing it.", + "Secure the cylindrical orange bottle with yellow top and perform a shake.", + "With the right arm, pick the plastic bottle with sealed yellow cap and shake properly.", + "Take the orange bottle using the right arm and give it a shake.", + "Grab the plastic bottle and shake it steadily.", + "Use the right arm to lift and shake the orange bottle.", + "Shake the cylindrical orange bottle with yellow top after holding it firmly.", + "Utilize the right arm to hold the medium-sized orange bottle and shake it.", + "Grab the orange bottle carefully and shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Hold and shake the the orange cylindrical bottle carefully.", + "Shake the smooth plastic bottle after lifting it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Lift the bottle with yellow cap with the right arm and give it a shake.", + "Grab the plastic bottle with sealed yellow cap with the right arm and shake.", + "Lift the orange bottle with the right arm and shake.", + "Hold the bottle with narrow neck, shake it briefly.", + "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Shake the yellow-capped plastic bottle using the right arm after grabbing.", + "Shake the bottle with narrow neck after grabbing it.", + "Pick up the medium-sized orange bottle and shake it.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Lift the cylindrical orange bottle with yellow top and shake it gently.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Use the right arm to pick and shake the bottle with printed label.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Catch the plastic bottle and shake it instantly.", + "Pick the plastic bottle and perform shaking motion.", + "Pick the bottle for liquids up using the right arm and shake it.", + "Pick up the plastic bottle with sealed yellow cap and shake it well.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Use the right arm to grab the bottle for liquids and shake it.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Lift the bottle with narrow neck with the right arm and shake it.", + "Pick the bottle with yellow cap up with the right arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Grab the bottle with printed label using the right arm, then shake.", + "Shake the medium-sized orange bottle firmly after grabbing.", + "Hold the bottle with yellow cap steady, then shake it.", + "Grip the bottle with printed label using the right arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Use the right arm to hold the bottle with yellow cap and shake it.", + "Pick the medium-sized orange bottle, shake it with the right arm.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Shake the medium-sized orange bottle after grabbing it.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "With the right arm, pick the orange cylindrical bottle and shake properly.", + "Take the bottle with printed label using the right arm and give it a shake.", + "Grab the cylindrical orange bottle with yellow top and shake it steadily.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Shake the yellow-capped plastic bottle after holding it firmly.", + "Utilize the right arm to hold the orange cylindrical bottle and shake it.", + "Grab the bottle with narrow neck carefully and shake.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "Lift up the orange cylindrical bottle using the right arm, then shake.", + "Hold and shake the the orange bottle carefully.", + "Shake the cylindrical orange bottle with yellow top after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with printed label and shake it thoroughly.", + "Lift the medium-sized orange bottle with the right arm and give it a shake.", + "Grab the bottle with narrow neck with the right arm and shake.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake.", + "Hold the yellow-capped plastic bottle, shake it briefly.", + "Using the right arm, shake the bottle for liquids and then place it back.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Shake the orange bottle after grabbing it.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Lift the bottle with narrow neck and shake it gently.", + "Grab and shake the cylindrical orange bottle with yellow top using the right arm.", + "Use the right arm to pick and shake the orange cylindrical bottle.", + "Shake the the bottle for liquids properly after lifting.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Pick the bottle with printed label and perform shaking motion.", + "Pick the plastic bottle up using the right arm and shake it.", + "Pick up the smooth plastic bottle and shake it well.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Use the right arm to lift and shake the orange bottle.", + "Grab the bottle for liquids and move it to shake.", + "Use the right arm to grab the bottle for liquids and shake it.", + "Grasp the medium-sized orange bottle with the right arm and shake it.", + "Shake the bottle with narrow neck thoroughly after grabbing it." + ], + "unseen": [ + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode280.json b/shake_bottle/ur5_randomized_500/instructions/episode280.json new file mode 100644 index 0000000000000000000000000000000000000000..245efde6ee46c8569812c862dd364949217d3d29 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode280.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth cylindrical bottle, shake it with the left arm.", + "Grip the medium cylinder-shaped bottle using the left arm and shake.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Grab the plastic bottle with ghost print and move it to shake.", + "Shake the smooth surface bottle with gray shade after lifting it.", + "Pick the bottle with cute ghost drawing up with the left arm and shake.", + "Secure the light gray colored container bottle and perform a shake.", + "Hold the bottle with cute ghost drawing with the left arm and shake lightly.", + "Lift the gray bottle with slight shine with the left arm and shake it.", + "Utilize the left arm to hold the hand-sized bottle with screw cap and shake it.", + "Catch the gray bottle with slight shine and shake it instantly.", + "Lift the gray bottle with slight shine and shake it gently.", + "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.", + "Use the left arm to pick and shake the light gray colored container bottle.", + "Lift the hand-sized bottle with screw cap with the left arm and shake.", + "Use the left arm to lift and shake the bottle with cute ghost drawing.", + "Shake the hand-sized bottle with screw cap firmly after grabbing.", + "Shake the rounded body bottle made of plastic after holding it firmly.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "Secure the smooth cylindrical bottle, shake it, and place it down.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Pick up the rounded body bottle made of plastic and shake it well.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Shake the bottle with cute ghost drawing using the left arm after grabbing.", + "Use the left arm to grab the hand-sized bottle with screw cap and shake it.", + "Take the hand-sized bottle with screw cap using the left arm and give it a shake.", + "Pick the bottle with cute ghost drawing and perform shaking motion.", + "Lift the smooth surface bottle with gray shade with the left arm and give it a shake.", + "Hold the smooth cylindrical bottle and shake it properly.", + "Use the left arm to grab the bottle shaped like small cylinder and shake properly.", + "Grab and shake the smooth cylindrical bottle using the left arm.", + "Pick up the smooth cylindrical bottle and shake it.", + "With the left arm, pick the medium cylinder-shaped bottle and shake properly.", + "Grasp the bottle with cute ghost drawing with the left arm and shake it.", + "Pick the milk-bottle shape design up using the left arm and shake it.", + "Grab the bottle with cute ghost drawing with the left arm and shake.", + "Shake the medium cylinder-shaped bottle thoroughly after grabbing it.", + "Hold the bottle with cute ghost drawing steady, then shake it.", + "Lift the smooth surface bottle with gray shade and shake it thoroughly.", + "Grab the smooth cylindrical bottle carefully and shake.", + "Shake the light gray colored container bottle after grabbing it.", + "Lift up the hand-sized bottle with screw cap using the left arm, then shake.", + "Use the left arm to lift and shake the medium-sized plastic bottle.", + "Grab the medium cylinder-shaped bottle and shake it steadily.", + "Shake the the medium cylinder-shaped bottle properly after lifting.", + "Grab the medium cylinder-shaped bottle using the left arm, then shake.", + "Grab the hand-sized bottle with screw cap and give it a shake.", + "Using the left arm, shake the plastic bottle with ghost print and then place it back.", + "Hold and shake the the medium cylinder-shaped bottle carefully.", + "Use the left arm to hold the medium cylinder-shaped bottle and shake it.", + "Pick the smooth cylindrical bottle, shake it with the left arm.", + "Grip the milk-bottle shape design using the left arm and shake.", + "Hold the plastic bottle with ghost print, shake it briefly.", + "Grab the light gray colored container bottle and move it to shake.", + "Shake the medium-sized plastic bottle after lifting it.", + "Pick the plastic bottle with ghost print up with the left arm and shake.", + "Secure the light gray colored container bottle and perform a shake.", + "Hold the bottle with cute ghost drawing with the left arm and shake lightly.", + "Lift the gray bottle with slight shine with the left arm and shake it.", + "Utilize the left arm to hold the medium-sized plastic bottle and shake it.", + "Catch the hand-sized bottle with screw cap and shake it instantly.", + "Lift the bottle shaped like small cylinder and shake it gently.", + "Grab the gray bottle with slight shine firmly, shake it, and put it down.", + "Use the left arm to pick and shake the smooth cylindrical bottle.", + "Lift the bottle with cute ghost drawing with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Shake the plastic bottle with ghost print firmly after grabbing.", + "Shake the rounded body bottle made of plastic after holding it firmly.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Secure the gray bottle with slight shine, shake it, and place it down.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Pick up the smooth surface bottle with gray shade and shake it well.", + "Shake the plastic bottle with ghost print after grabbing it.", + "Shake the rounded body bottle made of plastic using the left arm after grabbing.", + "Use the left arm to grab the gray bottle with slight shine and shake it.", + "Take the plastic bottle with ghost print using the left arm and give it a shake.", + "Pick the milk-bottle shape design and perform shaking motion.", + "Lift the milk-bottle shape design with the left arm and give it a shake.", + "Hold the hand-sized bottle with screw cap and shake it properly.", + "Use the left arm to grab the smooth cylindrical bottle and shake properly.", + "Grab and shake the medium-sized plastic bottle using the left arm.", + "Pick up the smooth cylindrical bottle and shake it.", + "With the left arm, pick the bottle shaped like small cylinder and shake properly.", + "Grasp the medium cylinder-shaped bottle with the left arm and shake it.", + "Pick the light gray colored container bottle up using the left arm and shake it.", + "Grab the bottle shaped like small cylinder with the left arm and shake.", + "Shake the smooth surface bottle with gray shade thoroughly after grabbing it.", + "Hold the plastic bottle with ghost print steady, then shake it.", + "Lift the medium-sized plastic bottle and shake it thoroughly.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Shake the gray bottle with slight shine after grabbing it.", + "Lift up the rounded body bottle made of plastic using the left arm, then shake.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "Grab the medium-sized plastic bottle and shake it steadily.", + "Shake the the hand-sized bottle with screw cap properly after lifting.", + "Grab the smooth cylindrical bottle using the left arm, then shake.", + "Grab the hand-sized bottle with screw cap and give it a shake.", + "Using the left arm, shake the rounded body bottle made of plastic and then place it back.", + "Hold and shake the the medium-sized plastic bottle carefully.", + "Use the left arm to hold the hand-sized bottle with screw cap and shake it." + ], + "unseen": [ + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the light gray bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode281.json b/shake_bottle/ur5_randomized_500/instructions/episode281.json new file mode 100644 index 0000000000000000000000000000000000000000..6dd3329fe1790ff925be0182a1bd4984fbda36d5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode281.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with green label firmly, shake it, and put it down.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Grab the yellow plastic bottle with white top using the right arm, then shake.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the smooth bottle with rounded edges with the right arm and shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Use the right arm to pick and shake the bottle with green label.", + "Utilize the right arm to hold the yellow bottle with a green design and shake it.", + "Shake the yellow bottle after holding it firmly.", + "Shake the the yellow bottle properly after lifting.", + "Grab the yellow plastic bottle with white top and shake it steadily.", + "With the right arm, pick the bottle with green label and shake properly.", + "Grab and shake the medium rectangular yellow bottle using the right arm.", + "Pick the yellow bottle with a green design, shake it with the right arm.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Shake the bottle with green label after grabbing it.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake it.", + "Hold the rectangular bottle with cylindrical neck steady, then shake it.", + "Lift up the bottle with green label using the right arm, then shake.", + "Shake the yellow bottle after lifting it.", + "Hold the yellow container with rounded edges with the right arm and shake lightly.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "Pick the medium rectangular yellow bottle up using the right arm and shake it.", + "Secure the bottle with green label and perform a shake.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Hold the yellow bottle and shake it properly.", + "Hold and shake the the bottle with white cap carefully.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Grab the yellow container with rounded edges and give it a shake.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Pick up the yellow bottle and shake it.", + "Take the yellow bottle with a green design using the right arm and give it a shake.", + "Grab the medium rectangular yellow bottle carefully and shake.", + "Lift the yellow bottle with a green design with the right arm and shake.", + "Use the right arm to lift and shake the bottle with green label.", + "Grab the yellow bottle and move it to shake.", + "Lift the plastic bottle and shake it gently.", + "Use the right arm to hold the bottle with a smooth plastic body and shake it.", + "Pick the yellow plastic bottle with white top up with the right arm and shake.", + "Use the right arm to grab the medium rectangular yellow bottle and shake properly.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Shake the yellow container with rounded edges using the right arm after grabbing.", + "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.", + "Grip the smooth bottle with rounded edges using the right arm and shake.", + "Pick up the bottle with a smooth plastic body and shake it well.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Grab the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Catch the bottle with green label and shake it instantly.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Grab the bottle with white cap with the right arm and shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Use the right arm to pick and shake the yellow bottle.", + "Utilize the right arm to hold the medium rectangular yellow bottle and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Shake the the plastic bottle properly after lifting.", + "Grab the yellow bottle and shake it steadily.", + "With the right arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Grab and shake the yellow container with rounded edges using the right arm.", + "Pick the yellow plastic bottle with white top, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Shake the bottle with white cap after grabbing it.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Lift up the yellow container with rounded edges using the right arm, then shake.", + "Shake the yellow container with rounded edges after lifting it.", + "Hold the bottle with green label with the right arm and shake lightly.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "Pick the yellow container with rounded edges up using the right arm and shake it.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Shake the yellow bottle with a green design after grabbing it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Lift the yellow plastic bottle with white top with the right arm and give it a shake.", + "Hold the plastic bottle and shake it properly.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Using the right arm, shake the yellow plastic bottle with white top and then place it back.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Lift the bottle with green and white labels with the right arm and shake it.", + "Pick up the plastic bottle and shake it.", + "Take the yellow plastic bottle with white top using the right arm and give it a shake.", + "Grab the medium rectangular yellow bottle carefully and shake.", + "Lift the yellow bottle with a green design with the right arm and shake.", + "Use the right arm to lift and shake the bottle with white cap.", + "Grab the yellow bottle and move it to shake.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Use the right arm to hold the yellow plastic bottle with white top and shake it.", + "Pick the medium rectangular yellow bottle up with the right arm and shake.", + "Use the right arm to grab the bottle with green label and shake properly.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Shake the bottle with green and white labels using the right arm after grabbing.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Grip the bottle with green label using the right arm and shake.", + "Pick up the plastic bottle and shake it well." + ], + "unseen": [ + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode282.json b/shake_bottle/ur5_randomized_500/instructions/episode282.json new file mode 100644 index 0000000000000000000000000000000000000000..3b1c2bd20639d7c6dd8cc6fdf174916c53b6ddc6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode282.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with green label with the right arm and shake it.", + "Pick up the medium rectangular yellow bottle and shake it.", + "Catch the yellow bottle and shake it instantly.", + "Pick the yellow container with rounded edges up using the right arm and shake it.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Lift the medium rectangular yellow bottle with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Shake the yellow container with rounded edges thoroughly after grabbing it.", + "Shake the bottle with green and white labels after holding it firmly.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Using the right arm, shake the bottle with a smooth plastic body and then place it back.", + "Grab the yellow container with rounded edges and move it to shake.", + "Utilize the right arm to hold the yellow bottle with a green design and shake it.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Grab and shake the yellow bottle using the right arm.", + "Use the right arm to grab the yellow bottle and shake it.", + "Take the bottle with green and white labels using the right arm and give it a shake.", + "Grab the yellow container with rounded edges using the right arm, then shake.", + "Pick the yellow plastic bottle with white top up with the right arm and shake.", + "Use the right arm to hold the yellow plastic bottle with white top and shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the bottle with green and white labels firmly, shake it, and put it down.", + "Use the right arm to lift and shake the yellow bottle.", + "Use the right arm to pick and shake the medium rectangular yellow bottle.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Hold the yellow container with rounded edges steady, then shake it.", + "Grasp the bottle with a smooth plastic body with the right arm and shake it.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "With the right arm, pick the yellow container with rounded edges and shake properly.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Lift the yellow plastic bottle with white top with the right arm and give it a shake.", + "Grip the smooth bottle with rounded edges using the right arm and shake.", + "Shake the the yellow plastic bottle with white top properly after lifting.", + "Shake the bottle with white cap after grabbing it.", + "Lift the yellow bottle with a green design and shake it gently.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Grab the yellow bottle with a green design with the right arm and shake.", + "Hold the bottle with white cap and shake it properly.", + "Grab the yellow plastic bottle with white top and give it a shake.", + "Shake the bottle with green label after grabbing it.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Pick the plastic bottle, shake it with the right arm.", + "Pick up the bottle with green label and shake it well.", + "Shake the plastic bottle using the right arm after grabbing.", + "Hold the medium rectangular yellow bottle with the right arm and shake lightly.", + "Lift up the plastic bottle using the right arm, then shake.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Pick up the yellow bottle and shake it.", + "Catch the yellow bottle and shake it instantly.", + "Pick the yellow bottle with a green design up using the right arm and shake it.", + "Shake the bottle with green label after lifting it.", + "Lift the bottle with green label with the right arm and shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Shake the bottle with green and white labels thoroughly after grabbing it.", + "Shake the yellow bottle after holding it firmly.", + "Hold and shake the the plastic bottle carefully.", + "Using the right arm, shake the yellow bottle with a green design and then place it back.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Utilize the right arm to hold the yellow bottle with a green design and shake it.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Grab the bottle with white cap and shake it steadily.", + "Grab and shake the rectangular bottle with cylindrical neck using the right arm.", + "Use the right arm to grab the medium rectangular yellow bottle and shake it.", + "Take the yellow container with rounded edges using the right arm and give it a shake.", + "Grab the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Pick the bottle with white cap up with the right arm and shake.", + "Use the right arm to hold the yellow bottle and shake it.", + "Use the right arm to grab the bottle with green label and shake properly.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium rectangular yellow bottle.", + "Use the right arm to pick and shake the plastic bottle.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Hold the yellow bottle steady, then shake it.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "With the right arm, pick the bottle with green label and shake properly.", + "Pick the smooth bottle with rounded edges and perform shaking motion.", + "Lift the yellow plastic bottle with white top with the right arm and give it a shake.", + "Grip the bottle with white cap using the right arm and shake.", + "Shake the the yellow bottle properly after lifting.", + "Shake the bottle with white cap after grabbing it.", + "Lift the smooth bottle with rounded edges and shake it gently.", + "Secure the plastic bottle and perform a shake.", + "Secure the yellow plastic bottle with white top, shake it, and place it down.", + "Grab the yellow bottle with the right arm and shake.", + "Hold the rectangular bottle with cylindrical neck and shake it properly.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Grab the bottle with green label carefully and shake.", + "Pick the yellow bottle, shake it with the right arm.", + "Pick up the plastic bottle and shake it well.", + "Shake the bottle with green and white labels using the right arm after grabbing.", + "Hold the medium rectangular yellow bottle with the right arm and shake lightly.", + "Lift up the yellow container with rounded edges using the right arm, then shake." + ], + "unseen": [ + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode283.json b/shake_bottle/ur5_randomized_500/instructions/episode283.json new file mode 100644 index 0000000000000000000000000000000000000000..09403aa7a5b8b47ad0efdedad5c0d434faa30152 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode283.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the white and orange plastic bottle and shake it.", + "Shake the medium orange bottle after lifting it.", + "Shake the the medium bottle with orange lid properly after lifting.", + "Pick up the orange bottle and shake it.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Use the left arm to hold the orange bottle and shake it.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Lift the orange and white bottle with cap with the left arm and shake.", + "Catch the medium orange bottle and shake it instantly.", + "With the left arm, pick the orange and white bottle with cap and shake properly.", + "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.", + "Hold the medium bottle with orange lid with the left arm and shake lightly.", + "Pick the cylindrical orange and white bottle, shake it with the left arm.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to lift and shake the medium orange bottle.", + "Hold the white and orange plastic bottle, shake it briefly.", + "Pick up the orange bottle and shake it well.", + "Secure the bottle with ribbed orange bottom, shake it, and place it down.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Pick the cylindrical orange and white bottle up with the left arm and shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Secure the medium bottle with orange lid and perform a shake.", + "Use the left arm to pick and shake the cylindrical orange and white bottle.", + "Shake the orange and white bottle with cap firmly after grabbing.", + "Hold the white and orange plastic bottle and shake it properly.", + "Grab the bottle with ribbed orange bottom and shake it steadily.", + "Use the left arm to lift and shake the plastic bottle.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Shake the bottle with ribbed orange bottom using the left arm after grabbing.", + "Grasp the drinking bottle with yellow label with the left arm and shake it.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Grab the drinking bottle with yellow label firmly, shake it, and put it down.", + "Grab the bottle with orange cap with the left arm and shake.", + "Lift the bottle with orange cap with the left arm and give it a shake.", + "Lift the orange bottle and shake it thoroughly.", + "Grab the yellow label bottle using the left arm, then shake.", + "Hold the medium bottle with orange lid steady, then shake it.", + "Shake the orange bottle after grabbing it.", + "Use the left arm to grab the orange bottle and shake properly.", + "Lift the yellow label bottle and shake it gently.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Utilize the left arm to hold the medium orange bottle and shake it.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Pick the bottle with orange cap up using the left arm and shake it.", + "Grab the bottle with ribbed orange bottom carefully and shake.", + "Pick the medium bottle with orange lid and perform shaking motion.", + "Grip the medium orange bottle using the left arm and shake.", + "Grab and shake the orange bottle using the left arm.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Shake the orange bottle after holding it firmly.", + "Use the left arm to grab the white and orange plastic bottle and shake it.", + "Shake the orange bottle after lifting it.", + "Shake the the medium bottle with orange lid properly after lifting.", + "Pick up the white and orange plastic bottle and shake it.", + "Lift the medium bottle with orange lid with the left arm and shake it.", + "Use the left arm to hold the drinking bottle with yellow label and shake it.", + "Shake the medium orange bottle after grabbing it.", + "Lift the plastic bottle with the left arm and shake.", + "Catch the bottle with orange cap and shake it instantly.", + "With the left arm, pick the cylindrical orange and white bottle and shake properly.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Hold the white and orange plastic bottle with the left arm and shake lightly.", + "Pick the bottle with ribbed orange bottom, shake it with the left arm.", + "Grab the medium orange bottle and give it a shake.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Pick up the white and orange plastic bottle and shake it well.", + "Secure the medium bottle with orange lid, shake it, and place it down.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Pick the orange and white bottle with cap up with the left arm and shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Use the left arm to pick and shake the orange bottle.", + "Shake the medium bottle with orange lid firmly after grabbing.", + "Hold the cylindrical orange and white bottle and shake it properly.", + "Grab the orange and white bottle with cap and shake it steadily.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Using the left arm, shake the orange and white bottle with cap and then place it back.", + "Shake the drinking bottle with yellow label using the left arm after grabbing.", + "Grasp the medium orange bottle with the left arm and shake it.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.", + "Grab the drinking bottle with yellow label with the left arm and shake.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Lift the medium bottle with orange lid and shake it thoroughly.", + "Grab the orange bottle using the left arm, then shake.", + "Hold the drinking bottle with yellow label steady, then shake it.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Use the left arm to grab the cylindrical orange and white bottle and shake properly.", + "Lift the bottle with ribbed orange bottom and shake it gently.", + "Hold and shake the the medium bottle with orange lid carefully.", + "Utilize the left arm to hold the white and orange plastic bottle and shake it.", + "Take the medium orange bottle using the left arm and give it a shake.", + "Pick the bottle with ribbed orange bottom up using the left arm and shake it.", + "Grab the medium orange bottle carefully and shake.", + "Pick the plastic bottle and perform shaking motion.", + "Grip the cylindrical orange and white bottle using the left arm and shake.", + "Grab and shake the bottle with ribbed orange bottom using the left arm.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Shake the yellow label bottle after holding it firmly." + ], + "unseen": [ + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode284.json b/shake_bottle/ur5_randomized_500/instructions/episode284.json new file mode 100644 index 0000000000000000000000000000000000000000..d1fa7c5edf4573a35363a1f7582aa2d4bd5ffcdf --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode284.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the red-capped bottle after grabbing it.", + "Pick the red-capped bottle and perform shaking motion.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grab the narrow-necked bottle and move it to shake.", + "Hold the plastic drink bottle and shake it properly.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Grab and shake the long thin bottle using the right arm.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Grab the long thin bottle using the right arm, then shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Pick up the medium dark brown bottle and shake it well.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the brown bottle with red label and give it a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold the long thin bottle steady, then shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Take the long thin bottle using the right arm and give it a shake.", + "Lift the long thin bottle with the right arm and shake it.", + "Shake the brown bottle with red label after lifting it.", + "Pick up the hand-sized soda bottle and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Lift the plastic drink bottle with the right arm and shake.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the red-capped bottle after grabbing it.", + "Pick the long thin bottle and perform shaking motion.", + "Use the right arm to lift and shake the brown bottle with red label.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Lift the brown bottle with red label and shake it gently.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Grab the medium dark brown bottle and move it to shake.", + "Hold the red-capped bottle and shake it properly.", + "Hold the plastic drink bottle, shake it briefly.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Catch the brown bottle with red label and shake it instantly.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift up the long thin bottle using the right arm, then shake.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Shake the the brown bottle with red label properly after lifting.", + "Grab the bottle with white neck and red top and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Lift the red-capped bottle with the right arm and shake it.", + "Shake the plastic drink bottle after lifting it.", + "Pick up the smooth bottle with red lid and shake it.", + "Secure the long thin bottle and perform a shake.", + "Hold and shake the the brown bottle with red label carefully.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Pick the medium dark brown bottle up with the right arm and shake." + ], + "unseen": [ + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode285.json b/shake_bottle/ur5_randomized_500/instructions/episode285.json new file mode 100644 index 0000000000000000000000000000000000000000..52cfb5ab1cdd8c0b9fe3a0e8ba3cd94612c12c6b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode285.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with orange cap after grabbing it.", + "Shake the medium bottle with orange lid after grabbing it.", + "Pick the cylindrical orange and white bottle, shake it with the left arm.", + "Take the medium orange bottle using the left arm and give it a shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Using the left arm, shake the bottle with ribbed orange bottom and then place it back.", + "Shake the bottle with ribbed orange bottom after lifting it.", + "Grab the yellow label bottle firmly, shake it, and put it down.", + "Secure the orange bottle, shake it, and place it down.", + "Shake the yellow label bottle after holding it firmly.", + "Grab the white and orange plastic bottle using the left arm, then shake.", + "Grab the yellow label bottle and give it a shake.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Hold the plastic bottle steady, then shake it.", + "Grab and shake the yellow label bottle using the left arm.", + "Grasp the bottle with ribbed orange bottom with the left arm and shake it.", + "Shake the the bottle with ribbed orange bottom properly after lifting.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Pick up the bottle with ribbed orange bottom and shake it.", + "Utilize the left arm to hold the yellow label bottle and shake it.", + "Hold the medium orange bottle with the left arm and shake lightly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Catch the cylindrical orange and white bottle and shake it instantly.", + "Use the left arm to lift and shake the medium orange bottle.", + "Hold the yellow label bottle and shake it properly.", + "Use the left arm to grab the plastic bottle and shake it.", + "Use the left arm to hold the white and orange plastic bottle and shake it.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Hold and shake the the medium bottle with orange lid carefully.", + "Grab the white and orange plastic bottle and move it to shake.", + "Hold the drinking bottle with yellow label, shake it briefly.", + "Grip the cylindrical orange and white bottle using the left arm and shake.", + "Pick up the medium bottle with orange lid and shake it well.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Shake the bottle with ribbed orange bottom using the left arm after grabbing.", + "Pick the orange bottle up with the left arm and shake.", + "Pick the cylindrical orange and white bottle and perform shaking motion.", + "Secure the bottle with orange cap and perform a shake.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Pick the white and orange plastic bottle up using the left arm and shake it.", + "Grab the orange bottle and shake it steadily.", + "Grab the white and orange plastic bottle carefully and shake.", + "Grab the white and orange plastic bottle with the left arm and shake.", + "Use the left arm to pick and shake the plastic bottle.", + "Lift the white and orange plastic bottle with the left arm and give it a shake.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Lift the smooth plastic bottle and shake it gently.", + "Shake the orange bottle after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick the medium orange bottle, shake it with the left arm.", + "Take the orange and white bottle with cap using the left arm and give it a shake.", + "Lift the orange and white bottle with cap with the left arm and shake it.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.", + "Secure the orange bottle, shake it, and place it down.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Grab the orange and white bottle with cap using the left arm, then shake.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Lift up the orange bottle using the left arm, then shake.", + "Lift the cylindrical orange and white bottle and shake it thoroughly.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Grab and shake the medium orange bottle using the left arm.", + "Grasp the yellow label bottle with the left arm and shake it.", + "Shake the the smooth plastic bottle properly after lifting.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick up the medium bottle with orange lid and shake it.", + "Utilize the left arm to hold the cylindrical orange and white bottle and shake it.", + "Hold the bottle with ribbed orange bottom with the left arm and shake lightly.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Catch the yellow label bottle and shake it instantly.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Hold the cylindrical orange and white bottle and shake it properly.", + "Use the left arm to grab the medium bottle with orange lid and shake it.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Shake the yellow label bottle thoroughly after grabbing it.", + "Shake the plastic bottle firmly after grabbing.", + "Hold and shake the the smooth plastic bottle carefully.", + "Grab the orange bottle and move it to shake.", + "Hold the smooth plastic bottle, shake it briefly.", + "Grip the white and orange plastic bottle using the left arm and shake.", + "Pick up the bottle with orange cap and shake it well.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Shake the orange and white bottle with cap using the left arm after grabbing.", + "Pick the medium orange bottle up with the left arm and shake.", + "Pick the bottle with orange cap and perform shaking motion.", + "Secure the drinking bottle with yellow label and perform a shake.", + "Lift the plastic bottle with the left arm and shake.", + "Pick the orange bottle up using the left arm and shake it.", + "Grab the plastic bottle and shake it steadily.", + "Grab the orange and white bottle with cap carefully and shake.", + "Grab the orange bottle with the left arm and shake.", + "Use the left arm to pick and shake the white and orange plastic bottle.", + "Lift the orange and white bottle with cap with the left arm and give it a shake.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Lift the yellow label bottle and shake it gently." + ], + "unseen": [ + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode286.json b/shake_bottle/ur5_randomized_500/instructions/episode286.json new file mode 100644 index 0000000000000000000000000000000000000000..55b4e34587c2fd8d0744f343b0699734d602583d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode286.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth plastic bottle steady, then shake it.", + "Pick the blue bottle, shake it with the left arm.", + "Grab the white bottle with blue accents using the left arm, then shake.", + "Hold and shake the the white and blue bottle carefully.", + "Grip the blue bottle with label using the left arm and shake.", + "Grab the white and blue bottle with the left arm and shake.", + "Grab the bottle with blue cap carefully and shake.", + "Secure the white and blue bottle and perform a shake.", + "Lift the bottle with blue cap with the left arm and shake.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "Grab the white and blue bottle and shake it steadily.", + "Lift the bottle for liquids with the left arm and shake it.", + "Shake the the white and blue bottle properly after lifting.", + "Shake the cylindrical bottle firmly after grabbing.", + "Grab the blue bottle with label firmly, shake it, and put it down.", + "Using the left arm, shake the white and blue bottle and then place it back.", + "Use the left arm to lift and shake the handheld bottle.", + "Shake the bottle for liquids after lifting it.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Grab and shake the medium-sized bottle using the left arm.", + "Hold the medium bottle for beverages and shake it properly.", + "Grab the plastic bottle and give it a shake.", + "Pick the cylindrical bottle and perform shaking motion.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Shake the white bottle with blue accents using the left arm after grabbing.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Lift the medium bottle for beverages and shake it gently.", + "Shake the blue bottle with label after grabbing it.", + "Lift the handheld bottle with the left arm and give it a shake.", + "Catch the bottle for liquids and shake it instantly.", + "Shake the blue bottle after grabbing it.", + "Shake the white and blue bottle after grabbing it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Lift up the white bottle with blue accents using the left arm, then shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Hold the medium bottle for beverages, shake it briefly.", + "Pick up the medium bottle for beverages and shake it.", + "Use the left arm to pick and shake the bottle with blue cap.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Use the left arm to hold the cylindrical bottle and shake it.", + "Use the left arm to lift and shake the bottle for liquids.", + "Utilize the left arm to hold the blue bottle with label and shake it.", + "Shake the medium-sized bottle after holding it firmly.", + "Pick up the medium bottle for beverages and shake it well.", + "Grasp the blue bottle with the left arm and shake it.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Use the left arm to grab the blue bottle and shake it.", + "Hold the blue bottle with label steady, then shake it.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab the blue bottle using the left arm, then shake.", + "Hold and shake the the cylindrical bottle carefully.", + "Grip the bottle for liquids using the left arm and shake.", + "Grab the plastic bottle with the left arm and shake.", + "Grab the handheld bottle carefully and shake.", + "Secure the handheld bottle and perform a shake.", + "Lift the bottle for liquids with the left arm and shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Hold the blue bottle with label with the left arm and shake lightly.", + "Grab the smooth plastic bottle and shake it steadily.", + "Lift the medium bottle for beverages with the left arm and shake it.", + "Shake the the handheld bottle properly after lifting.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Use the left arm to lift and shake the white and blue bottle.", + "Shake the cylindrical bottle after lifting it.", + "With the left arm, pick the white and blue bottle and shake properly.", + "Grab and shake the medium bottle for beverages using the left arm.", + "Hold the handheld bottle and shake it properly.", + "Grab the white and blue bottle and give it a shake.", + "Pick the bottle for liquids and perform shaking motion.", + "Take the white bottle with blue accents using the left arm and give it a shake.", + "Shake the handheld bottle using the left arm after grabbing.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Pick the cylindrical bottle up with the left arm and shake.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Lift the bottle with blue cap and shake it gently.", + "Shake the white and blue bottle after grabbing it.", + "Lift the bottle with blue cap with the left arm and give it a shake.", + "Catch the bottle with blue cap and shake it instantly.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to lift and shake the handheld bottle.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Grab the medium bottle for beverages and move it to shake.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the blue bottle and shake it.", + "Use the left arm to pick and shake the plastic bottle.", + "Secure the cylindrical bottle, shake it, and place it down.", + "Use the left arm to hold the bottle with blue cap and shake it.", + "Use the left arm to lift and shake the white and blue bottle.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Shake the medium bottle for beverages after holding it firmly.", + "Pick up the blue bottle with label and shake it well.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Use the left arm to grab the handheld bottle and shake it." + ], + "unseen": [ + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode287.json b/shake_bottle/ur5_randomized_500/instructions/episode287.json new file mode 100644 index 0000000000000000000000000000000000000000..64269d5a95ec9aa8147d29311f49c14bd536c4f8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode287.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the rounded body bottle made of plastic using the left arm and give it a shake.", + "Shake the gray bottle with slight shine after grabbing it.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Secure the plastic bottle with ghost print and perform a shake.", + "Secure the bottle shaped like small cylinder, shake it, and place it down.", + "Hold the plastic bottle with ghost print and shake it properly.", + "Hold the smooth cylindrical bottle, shake it briefly.", + "Grab the hand-sized bottle with screw cap with the left arm and shake.", + "Shake the light gray colored container bottle after holding it firmly.", + "Hold the bottle shaped like small cylinder with the left arm and shake lightly.", + "Lift the milk-bottle shape design with the left arm and shake it.", + "Shake the rounded body bottle made of plastic firmly after grabbing.", + "Using the left arm, shake the bottle shaped like small cylinder and then place it back.", + "Lift the light gray colored container bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the smooth cylindrical bottle.", + "Grasp the milk-bottle shape design with the left arm and shake it.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Grab the medium cylinder-shaped bottle using the left arm, then shake.", + "Lift up the hand-sized bottle with screw cap using the left arm, then shake.", + "Pick up the rounded body bottle made of plastic and shake it.", + "Grip the plastic bottle with ghost print using the left arm and shake.", + "Grab the gray bottle with slight shine and shake it steadily.", + "Grab the gray bottle with slight shine firmly, shake it, and put it down.", + "Utilize the left arm to hold the plastic bottle with ghost print and shake it.", + "Lift the hand-sized bottle with screw cap and shake it thoroughly.", + "Grab the rounded body bottle made of plastic and give it a shake.", + "Pick up the bottle with cute ghost drawing and shake it well.", + "Grab the milk-bottle shape design carefully and shake.", + "Shake the smooth cylindrical bottle using the left arm after grabbing.", + "Pick the hand-sized bottle with screw cap and perform shaking motion.", + "Use the left arm to hold the plastic bottle with ghost print and shake it.", + "Catch the rounded body bottle made of plastic and shake it instantly.", + "Lift the medium cylinder-shaped bottle and shake it gently.", + "Shake the the medium cylinder-shaped bottle properly after lifting.", + "Shake the light gray colored container bottle after lifting it.", + "With the left arm, pick the smooth cylindrical bottle and shake properly.", + "Hold and shake the the medium cylinder-shaped bottle carefully.", + "Pick the milk-bottle shape design up with the left arm and shake.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Use the left arm to lift and shake the medium cylinder-shaped bottle.", + "Use the left arm to grab the bottle with cute ghost drawing and shake properly.", + "Lift the smooth surface bottle with gray shade with the left arm and shake.", + "Shake the plastic bottle with ghost print thoroughly after grabbing it.", + "Hold the plastic bottle with ghost print steady, then shake it.", + "Pick the rounded body bottle made of plastic up using the left arm and shake it.", + "Grab the smooth surface bottle with gray shade and move it to shake.", + "Pick the milk-bottle shape design, shake it with the left arm.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Use the left arm to grab the smooth surface bottle with gray shade and shake it.", + "Grab and shake the smooth surface bottle with gray shade using the left arm.", + "Take the bottle with cute ghost drawing using the left arm and give it a shake.", + "Shake the milk-bottle shape design after grabbing it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Secure the gray bottle with slight shine and perform a shake.", + "Secure the light gray colored container bottle, shake it, and place it down.", + "Hold the bottle with cute ghost drawing and shake it properly.", + "Hold the medium-sized plastic bottle, shake it briefly.", + "Grab the bottle with cute ghost drawing with the left arm and shake.", + "Shake the medium-sized plastic bottle after holding it firmly.", + "Hold the smooth cylindrical bottle with the left arm and shake lightly.", + "Lift the milk-bottle shape design with the left arm and shake it.", + "Shake the gray bottle with slight shine firmly after grabbing.", + "Using the left arm, shake the gray bottle with slight shine and then place it back.", + "Lift the hand-sized bottle with screw cap with the left arm and give it a shake.", + "Use the left arm to pick and shake the plastic bottle with ghost print.", + "Grasp the bottle shaped like small cylinder with the left arm and shake it.", + "Use the left arm to lift and shake the medium-sized plastic bottle.", + "Grab the gray bottle with slight shine using the left arm, then shake.", + "Lift up the bottle with cute ghost drawing using the left arm, then shake.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Grip the milk-bottle shape design using the left arm and shake.", + "Grab the plastic bottle with ghost print and shake it steadily.", + "Grab the light gray colored container bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Lift the plastic bottle with ghost print and shake it thoroughly.", + "Grab the medium-sized plastic bottle and give it a shake.", + "Pick up the plastic bottle with ghost print and shake it well.", + "Grab the gray bottle with slight shine carefully and shake.", + "Shake the gray bottle with slight shine using the left arm after grabbing.", + "Pick the bottle shaped like small cylinder and perform shaking motion.", + "Use the left arm to hold the rounded body bottle made of plastic and shake it.", + "Catch the milk-bottle shape design and shake it instantly.", + "Lift the rounded body bottle made of plastic and shake it gently.", + "Shake the the rounded body bottle made of plastic properly after lifting.", + "Shake the bottle with cute ghost drawing after lifting it.", + "With the left arm, pick the gray bottle with slight shine and shake properly.", + "Hold and shake the the hand-sized bottle with screw cap carefully.", + "Pick the smooth cylindrical bottle up with the left arm and shake.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Use the left arm to lift and shake the smooth surface bottle with gray shade.", + "Use the left arm to grab the bottle shaped like small cylinder and shake properly.", + "Lift the smooth cylindrical bottle with the left arm and shake.", + "Shake the light gray colored container bottle thoroughly after grabbing it.", + "Hold the bottle shaped like small cylinder steady, then shake it.", + "Pick the bottle with cute ghost drawing up using the left arm and shake it.", + "Grab the gray bottle with slight shine and move it to shake.", + "Pick the plastic bottle with ghost print, shake it with the left arm.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Use the left arm to grab the plastic bottle with ghost print and shake it.", + "Grab and shake the medium cylinder-shaped bottle using the left arm." + ], + "unseen": [ + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode288.json b/shake_bottle/ur5_randomized_500/instructions/episode288.json new file mode 100644 index 0000000000000000000000000000000000000000..86649c1350ab0d0e7217fd6b9b1e47a2e33da6ca --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode288.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium bottle with smooth texture after lifting it.", + "Grab the medium plastic bottle and give it a shake.", + "Grab the bottle with dark brown color using the left arm, then shake.", + "Hold the bottle with dark brown color, shake it briefly.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grip the medium plastic bottle using the left arm and shake.", + "Shake the bottle with brown body and white top after grabbing it.", + "Pick up the handheld brown bottle with white lid and shake it well.", + "Secure the rounded bottle with printed details, shake it, and place it down.", + "Shake the rounded bottle with printed details after grabbing it.", + "Lift the medium plastic bottle with the left arm and shake it.", + "Using the left arm, shake the plastic bottle for liquids and then place it back.", + "Use the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Hold the handheld brown bottle with white lid steady, then shake it.", + "Grab and shake the bottle with dark brown color using the left arm.", + "Shake the bottle with white cap after grabbing it.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Pick the plastic bottle with printed label up using the left arm and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake it.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Secure the bottle with dark brown color and perform a shake.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Use the left arm to lift and shake the plastic bottle with printed label.", + "With the left arm, pick the handheld brown bottle with white lid and shake properly.", + "Take the medium bottle with smooth texture using the left arm and give it a shake.", + "Grab the plastic bottle for liquids and move it to shake.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Pick the bottle with brown body and white top up with the left arm and shake.", + "Lift the smooth brown bottle and shake it gently.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with white cap.", + "Use the left arm to pick and shake the bottle with dark brown color.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Pick up the plastic bottle with printed label and shake it.", + "Hold and shake the the plastic bottle with printed label carefully.", + "Hold the medium plastic bottle with the left arm and shake lightly.", + "Lift the cylindrical bottle with narrow neck with the left arm and give it a shake.", + "Grab the medium bottle with smooth texture carefully and shake.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Grasp the plastic bottle with printed label with the left arm and shake it.", + "Grab the rounded bottle with printed details with the left arm and shake.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Catch the smooth brown bottle and shake it instantly.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Use the left arm to grab the bottle with dark brown color and shake properly.", + "Utilize the left arm to hold the bottle with dark brown color and shake it.", + "Lift the handheld brown bottle with white lid with the left arm and shake.", + "Shake the plastic bottle for liquids after lifting it.", + "Grab the bottle with brown body and white top and give it a shake.", + "Grab the plastic bottle with printed label using the left arm, then shake.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Hold the plastic bottle with printed label and shake it properly.", + "Grip the plastic bottle for liquids using the left arm and shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake it.", + "Using the left arm, shake the bottle with white cap and then place it back.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Grab and shake the medium bottle with smooth texture using the left arm.", + "Shake the bottle with dark brown color after grabbing it.", + "Grab the plastic bottle for liquids firmly, shake it, and put it down.", + "Pick the medium bottle with smooth texture up using the left arm and shake it.", + "Use the left arm to grab the smooth brown bottle and shake it.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Secure the white-capped brown cylindrical bottle and perform a shake.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Take the cylindrical bottle with narrow neck using the left arm and give it a shake.", + "Grab the smooth brown bottle and move it to shake.", + "Pick the smooth brown bottle, shake it with the left arm.", + "Pick the bottle with dark brown color up with the left arm and shake.", + "Lift the bottle with dark brown color and shake it gently.", + "Lift up the plastic bottle with printed label using the left arm, then shake.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Use the left arm to pick and shake the medium plastic bottle.", + "Shake the white-capped brown cylindrical bottle after holding it firmly.", + "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.", + "Pick up the bottle with dark brown color and shake it.", + "Hold and shake the the smooth brown bottle carefully.", + "Hold the smooth brown bottle with the left arm and shake lightly.", + "Lift the rounded bottle with printed details with the left arm and give it a shake.", + "Grab the bottle with brown body and white top carefully and shake.", + "Shake the handheld brown bottle with white lid thoroughly after grabbing it.", + "Grasp the bottle with dark brown color with the left arm and shake it.", + "Grab the medium bottle with smooth texture with the left arm and shake.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Catch the bottle with brown body and white top and shake it instantly.", + "Shake the the bottle with white cap properly after lifting.", + "Use the left arm to grab the bottle with brown body and white top and shake properly.", + "Utilize the left arm to hold the smooth brown bottle and shake it.", + "Lift the medium bottle with smooth texture with the left arm and shake." + ], + "unseen": [ + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode289.json b/shake_bottle/ur5_randomized_500/instructions/episode289.json new file mode 100644 index 0000000000000000000000000000000000000000..4e1ba70ed6685441dd55cc9409c7361ae5f62c44 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode289.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cylindrical bottle with narrow neck with the right arm and shake.", + "Pick up the medium bottle with smooth texture and shake it.", + "Use the right arm to grab the bottle with brown body and white top and shake it.", + "Secure the bottle with brown body and white top, shake it, and place it down.", + "Grab the medium plastic bottle and give it a shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Pick the medium bottle with smooth texture up with the right arm and shake.", + "Secure the rounded bottle with printed details and perform a shake.", + "Shake the medium bottle with smooth texture using the right arm after grabbing.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Take the white-capped brown cylindrical bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the handheld brown bottle with white lid.", + "Lift the medium plastic bottle with the right arm and shake.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Utilize the right arm to hold the plastic bottle with printed label and shake it.", + "Grab the plastic bottle for liquids using the right arm, then shake.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Grip the plastic bottle with printed label using the right arm and shake.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Grab the bottle with white cap and shake it steadily.", + "Hold the bottle with brown body and white top and shake it properly.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "Use the right arm to hold the medium bottle with smooth texture and shake it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Pick up the bottle with dark brown color and shake it well.", + "Grasp the plastic bottle with printed label with the right arm and shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Use the right arm to grab the medium bottle with smooth texture and shake properly.", + "Grab the bottle with brown body and white top carefully and shake.", + "Shake the rounded bottle with printed details after lifting it.", + "Hold the plastic bottle with printed label steady, then shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Grab and shake the smooth brown bottle using the right arm.", + "Lift the handheld brown bottle with white lid with the right arm and shake it.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Grab the bottle with white cap and move it to shake.", + "Pick the cylindrical bottle with narrow neck, shake it with the right arm.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Hold the bottle with brown body and white top with the right arm and shake lightly.", + "Lift up the plastic bottle with printed label using the right arm, then shake.", + "Pick the bottle with brown body and white top up using the right arm and shake it.", + "Hold the smooth brown bottle, shake it briefly.", + "With the right arm, pick the cylindrical bottle with narrow neck and shake properly.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the plastic bottle for liquids.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Grab the bottle with white cap with the right arm and shake.", + "Pick up the plastic bottle for liquids and shake it.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Grab the smooth brown bottle and give it a shake.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Pick the bottle with white cap up with the right arm and shake.", + "Secure the bottle with brown body and white top and perform a shake.", + "Shake the handheld brown bottle with white lid using the right arm after grabbing.", + "Using the right arm, shake the plastic bottle for liquids and then place it back.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Use the right arm to pick and shake the rounded bottle with printed details.", + "Lift the bottle with white cap with the right arm and shake.", + "Pick the bottle with brown body and white top and perform shaking motion.", + "Catch the medium plastic bottle and shake it instantly.", + "Utilize the right arm to hold the cylindrical bottle with narrow neck and shake it.", + "Grab the medium bottle with smooth texture using the right arm, then shake.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Grip the medium plastic bottle using the right arm and shake.", + "Shake the the bottle with white cap properly after lifting.", + "Grab the smooth brown bottle and shake it steadily.", + "Hold the bottle with dark brown color and shake it properly.", + "Lift the smooth brown bottle and shake it thoroughly.", + "Use the right arm to hold the bottle with white cap and shake it.", + "Shake the plastic bottle with printed label after grabbing it.", + "Pick up the bottle with brown body and white top and shake it well.", + "Grasp the handheld brown bottle with white lid with the right arm and shake it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Use the right arm to grab the medium bottle with smooth texture and shake properly.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Shake the plastic bottle with printed label after lifting it.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grab and shake the medium bottle with smooth texture using the right arm.", + "Lift the bottle with white cap with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Grab the medium plastic bottle and move it to shake.", + "Pick the handheld brown bottle with white lid, shake it with the right arm.", + "Lift the bottle with brown body and white top with the right arm and give it a shake.", + "Hold the plastic bottle with printed label with the right arm and shake lightly.", + "Lift up the plastic bottle for liquids using the right arm, then shake.", + "Pick the bottle with dark brown color up using the right arm and shake it.", + "Hold the medium plastic bottle, shake it briefly.", + "With the right arm, pick the bottle with brown body and white top and shake properly.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Hold and shake the the bottle with white cap carefully.", + "Lift the cylindrical bottle with narrow neck and shake it gently." + ], + "unseen": [ + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode29.json b/shake_bottle/ur5_randomized_500/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..09dd452639e61da4ab52f126548941df430bbcc4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with flat sides and logo after lifting it.", + "Grab the brown bottle with rounded rectangular shape and give it a shake.", + "Hold the smooth plastic bottle with white cap with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Pick the brown bottle with rounded rectangular shape up with the left arm and shake.", + "Pick up the medium-sized brown plastic bottle and shake it.", + "Use the left arm to lift and shake the smooth plastic bottle with white cap.", + "Pick the medium-sized brown plastic bottle, shake it with the left arm.", + "Lift the bottle with flat sides and logo with the left arm and give it a shake.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Grasp the bottle with flat sides and logo with the left arm and shake it.", + "Shake the the rectangular brown body with white top properly after lifting.", + "Shake the brown bottle with rounded rectangular shape firmly after grabbing.", + "Grab the rectangular brown body with white top carefully and shake.", + "Use the left arm to hold the medium-sized brown plastic bottle and shake it.", + "Use the left arm to grab the bottle with green cap and shake it.", + "Pick up the rectangular brown body with white top and shake it well.", + "Shake the brown bottle after holding it firmly.", + "Lift the smooth plastic bottle with white cap with the left arm and shake it.", + "Lift the bottle with flat sides and logo and shake it gently.", + "Hold the smooth plastic bottle with white cap steady, then shake it.", + "Lift the dark brown bottle with a squared body with the left arm and shake.", + "Lift up the smooth brown bottle with green label using the left arm, then shake.", + "Secure the bottle with flat sides and logo, shake it, and place it down.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the smooth plastic bottle with white cap using the left arm after grabbing.", + "Take the rectangular-shaped bottle with round cap using the left arm and give it a shake.", + "Hold the brown bottle with rounded rectangular shape, shake it briefly.", + "Use the left arm to grab the rectangular brown body with white top and shake properly.", + "Using the left arm, shake the medium-sized brown plastic bottle and then place it back.", + "Use the left arm to pick and shake the brown bottle with rounded rectangular shape.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Utilize the left arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Grab the smooth plastic bottle with white cap and move it to shake.", + "Hold and shake the the plastic bottle carefully.", + "With the left arm, pick the medium-sized brown plastic bottle and shake properly.", + "Grip the medium bottle with glossy surface using the left arm and shake.", + "Grab the medium bottle with glossy surface using the left arm, then shake.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Catch the bottle with green cap and shake it instantly.", + "Grab the plastic bottle with the left arm and shake.", + "Hold the medium bottle with glossy surface and shake it properly.", + "Grab the medium bottle with glossy surface and shake it steadily.", + "Lift the bottle with flat sides and logo and shake it thoroughly.", + "Secure the smooth plastic bottle with white cap and perform a shake.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Pick the medium-sized brown plastic bottle and perform shaking motion.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Shake the dark brown bottle with a squared body after lifting it.", + "Grab the brown bottle and give it a shake.", + "Hold the brown bottle with rounded rectangular shape with the left arm and shake lightly.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Pick the smooth brown bottle with green label up with the left arm and shake.", + "Pick up the rectangular-shaped bottle with round cap and shake it.", + "Use the left arm to lift and shake the medium bottle with glossy surface.", + "Pick the smooth brown bottle with green label, shake it with the left arm.", + "Lift the bottle with green cap with the left arm and give it a shake.", + "Shake the brown bottle after grabbing it.", + "Grasp the smooth brown bottle with green label with the left arm and shake it.", + "Shake the the rectangular-shaped bottle with round cap properly after lifting.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Use the left arm to grab the smooth plastic bottle with white cap and shake it.", + "Pick up the bottle with green cap and shake it well.", + "Shake the bottle with green cap after holding it firmly.", + "Lift the smooth plastic bottle with white cap with the left arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Hold the brown bottle with rounded rectangular shape steady, then shake it.", + "Lift the rectangular brown body with white top with the left arm and shake.", + "Lift up the rectangular-shaped bottle with round cap using the left arm, then shake.", + "Secure the bottle with flat sides and logo, shake it, and place it down.", + "Pick the smooth brown bottle with green label up using the left arm and shake it.", + "Shake the rectangular brown body with white top using the left arm after grabbing.", + "Take the rectangular brown body with white top using the left arm and give it a shake.", + "Hold the plastic bottle, shake it briefly.", + "Use the left arm to grab the rectangular brown body with white top and shake properly.", + "Using the left arm, shake the rectangular brown body with white top and then place it back.", + "Use the left arm to pick and shake the medium-sized brown plastic bottle.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "Utilize the left arm to hold the smooth brown bottle with green label and shake it.", + "Grab the medium bottle with glossy surface and move it to shake.", + "Hold and shake the the rectangular brown body with white top carefully.", + "With the left arm, pick the dark brown bottle with a squared body and shake properly.", + "Grip the bottle with green cap using the left arm and shake.", + "Grab the medium-sized brown plastic bottle using the left arm, then shake.", + "Shake the brown bottle after grabbing it.", + "Catch the brown bottle and shake it instantly.", + "Grab the medium bottle with glossy surface with the left arm and shake.", + "Hold the medium bottle with glossy surface and shake it properly.", + "Grab the rectangular-shaped bottle with round cap and shake it steadily.", + "Lift the bottle with flat sides and logo and shake it thoroughly.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Grab and shake the smooth plastic bottle with white cap using the left arm.", + "Pick the brown bottle with rounded rectangular shape and perform shaking motion.", + "Shake the smooth plastic bottle with white cap after grabbing it." + ], + "unseen": [ + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the bottle with green label and white lid and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode290.json b/shake_bottle/ur5_randomized_500/instructions/episode290.json new file mode 100644 index 0000000000000000000000000000000000000000..98e579376b22d11698618363bfe47795a334de0d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode290.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the orange and white bottle with cap using the left arm, then shake.", + "Grab the medium orange bottle and shake it steadily.", + "Use the left arm to lift and shake the medium orange bottle.", + "Lift the bottle with orange cap and shake it thoroughly.", + "Use the left arm to grab the orange and white bottle with cap and shake it.", + "Use the left arm to pick and shake the white and orange plastic bottle.", + "Grasp the orange bottle with the left arm and shake it.", + "Grab the plastic bottle with the left arm and shake.", + "Pick the yellow label bottle up using the left arm and shake it.", + "Pick the orange bottle up with the left arm and shake.", + "Hold the orange bottle, shake it briefly.", + "Use the left arm to grab the bottle with ribbed orange bottom and shake properly.", + "Grab and shake the medium bottle with orange lid using the left arm.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Lift the drinking bottle with yellow label with the left arm and give it a shake.", + "Lift up the medium bottle with orange lid using the left arm, then shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Pick the yellow label bottle and perform shaking motion.", + "Pick up the bottle with orange cap and shake it.", + "Lift the medium bottle with orange lid with the left arm and shake it.", + "Grip the drinking bottle with yellow label using the left arm and shake.", + "Lift the medium orange bottle with the left arm and shake.", + "Pick the cylindrical orange and white bottle, shake it with the left arm.", + "Shake the orange and white bottle with cap after lifting it.", + "Secure the drinking bottle with yellow label and perform a shake.", + "Grab the smooth plastic bottle carefully and shake.", + "Shake the medium bottle with orange lid using the left arm after grabbing.", + "Shake the the orange bottle properly after lifting.", + "Shake the orange bottle after grabbing it.", + "Shake the bottle with orange cap firmly after grabbing.", + "Hold the white and orange plastic bottle steady, then shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the yellow label bottle after holding it firmly.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Grab the white and orange plastic bottle firmly, shake it, and put it down.", + "Take the yellow label bottle using the left arm and give it a shake.", + "Using the left arm, shake the orange bottle and then place it back.", + "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.", + "With the left arm, pick the orange bottle and shake properly.", + "Hold the plastic bottle and shake it properly.", + "Pick up the medium bottle with orange lid and shake it well.", + "Use the left arm to hold the orange bottle and shake it.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Grab the yellow label bottle and move it to shake.", + "Lift the yellow label bottle and shake it gently.", + "Hold and shake the the yellow label bottle carefully.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the yellow label bottle using the left arm, then shake.", + "Grab the bottle with ribbed orange bottom and shake it steadily.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Lift the plastic bottle and shake it thoroughly.", + "Use the left arm to grab the orange and white bottle with cap and shake it.", + "Use the left arm to pick and shake the yellow label bottle.", + "Grasp the cylindrical orange and white bottle with the left arm and shake it.", + "Grab the white and orange plastic bottle with the left arm and shake.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Pick the medium bottle with orange lid up with the left arm and shake.", + "Hold the bottle with orange cap, shake it briefly.", + "Use the left arm to grab the yellow label bottle and shake properly.", + "Grab and shake the bottle with ribbed orange bottom using the left arm.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.", + "Lift up the bottle with orange cap using the left arm, then shake.", + "Hold the cylindrical orange and white bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the orange bottle.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Pick up the yellow label bottle and shake it.", + "Lift the white and orange plastic bottle with the left arm and shake it.", + "Grip the orange and white bottle with cap using the left arm and shake.", + "Lift the yellow label bottle with the left arm and shake.", + "Pick the plastic bottle, shake it with the left arm.", + "Shake the drinking bottle with yellow label after lifting it.", + "Secure the orange bottle and perform a shake.", + "Grab the bottle with orange cap carefully and shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the the medium orange bottle properly after lifting.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the bottle with ribbed orange bottom firmly after grabbing.", + "Hold the cylindrical orange and white bottle steady, then shake it.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Shake the bottle with orange cap after holding it firmly.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Take the medium bottle with orange lid using the left arm and give it a shake.", + "Using the left arm, shake the orange and white bottle with cap and then place it back.", + "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Hold the drinking bottle with yellow label and shake it properly.", + "Pick up the orange bottle and shake it well.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Utilize the left arm to hold the medium orange bottle and shake it.", + "Grab the yellow label bottle and move it to shake.", + "Lift the medium bottle with orange lid and shake it gently.", + "Hold and shake the the drinking bottle with yellow label carefully.", + "Catch the plastic bottle and shake it instantly.", + "Secure the medium orange bottle, shake it, and place it down.", + "Grab the white and orange plastic bottle and give it a shake." + ], + "unseen": [ + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode291.json b/shake_bottle/ur5_randomized_500/instructions/episode291.json new file mode 100644 index 0000000000000000000000000000000000000000..8a5f4ac08d231732cfc34065ca7fd009e0127d23 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode291.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the white bottle with red text up with the left arm and shake.", + "Lift the bottle with orange screw cap and shake it thoroughly.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to hold the white bottle for liquids and shake it.", + "Shake the white bottle for liquids after lifting it.", + "Hold and shake the the bottle with orange screw cap carefully.", + "Hold the white cylindrical bottle and shake it properly.", + "Use the left arm to grab the cylindrical bottle with red writing and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to lift and shake the white bottle with red text.", + "Take the white bottle with red text using the left arm and give it a shake.", + "Use the left arm to grab the white cylindrical bottle and shake properly.", + "Pick the white bottle with orange lid up using the left arm and shake it.", + "Grab the bottle with tapering neck firmly, shake it, and put it down.", + "With the left arm, pick the white bottle with red text and shake properly.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Pick up the white cylindrical bottle and shake it well.", + "Utilize the left arm to hold the smooth bottle and shake it.", + "Hold the white cylindrical bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the cylindrical bottle with red writing.", + "Use the left arm to lift and shake the white cylindrical bottle.", + "Secure the bottle with tapering neck, shake it, and place it down.", + "Lift the bottle with tapering neck with the left arm and give it a shake.", + "Pick up the white bottle and shake it.", + "Hold the white bottle for liquids steady, then shake it.", + "Use the left arm to lift and shake the white bottle with red text.", + "Shake the white bottle with red text firmly after grabbing.", + "Shake the smooth bottle after grabbing it.", + "Lift the white bottle with orange lid and shake it gently.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grab the white bottle with orange lid with the left arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift up the bottle with tapering neck using the left arm, then shake.", + "Using the left arm, shake the white bottle and then place it back.", + "Shake the white cylindrical bottle thoroughly after grabbing it.", + "Grab the medium-sized bottle using the left arm, then shake.", + "Shake the medium-sized bottle after grabbing it.", + "Grab the medium-sized bottle and move it to shake.", + "Lift the bottle with tapering neck with the left arm and shake.", + "Secure the white cylindrical bottle and perform a shake.", + "Shake the bottle with tapering neck using the left arm after grabbing.", + "Grab and shake the white bottle for liquids using the left arm.", + "Hold the handheld white bottle with cap, shake it briefly.", + "Grab the bottle with tapering neck carefully and shake.", + "Shake the white bottle with red text after grabbing it.", + "Shake the white bottle with red text after holding it firmly.", + "Catch the plastic bottle and shake it instantly.", + "Shake the the bottle with orange screw cap properly after lifting.", + "Lift the bottle with orange screw cap with the left arm and shake it.", + "Grip the medium-sized bottle using the left arm and shake.", + "Pick the smooth bottle up with the left arm and shake.", + "Lift the white bottle and shake it thoroughly.", + "Grab the handheld white bottle with cap and give it a shake.", + "Use the left arm to hold the white bottle with orange lid and shake it.", + "Shake the bottle with orange screw cap after lifting it.", + "Hold and shake the the medium-sized bottle carefully.", + "Hold the cylindrical bottle with red writing and shake it properly.", + "Use the left arm to grab the white cylindrical bottle and shake it.", + "Pick the bottle with tapering neck and perform shaking motion.", + "Use the left arm to lift and shake the white cylindrical bottle.", + "Take the plastic bottle using the left arm and give it a shake.", + "Use the left arm to grab the white bottle for liquids and shake properly.", + "Pick the white bottle up using the left arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "With the left arm, pick the white bottle for liquids and shake properly.", + "Pick the handheld white bottle with cap, shake it with the left arm.", + "Pick up the bottle with tapering neck and shake it well.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold the bottle with tapering neck with the left arm and shake lightly.", + "Use the left arm to pick and shake the plastic bottle.", + "Use the left arm to lift and shake the white bottle with orange lid.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Lift the white bottle with the left arm and give it a shake.", + "Pick up the white bottle with orange lid and shake it.", + "Hold the bottle with tapering neck steady, then shake it.", + "Use the left arm to lift and shake the white bottle.", + "Shake the cylindrical bottle with red writing firmly after grabbing.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Lift the white cylindrical bottle and shake it gently.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grab the white bottle for liquids with the left arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift up the white cylindrical bottle using the left arm, then shake.", + "Using the left arm, shake the cylindrical bottle with red writing and then place it back.", + "Shake the smooth bottle thoroughly after grabbing it.", + "Grab the cylindrical bottle with red writing using the left arm, then shake.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Grab the cylindrical bottle with red writing and move it to shake.", + "Lift the white bottle for liquids with the left arm and shake.", + "Secure the white cylindrical bottle and perform a shake.", + "Shake the white bottle using the left arm after grabbing.", + "Grab and shake the white bottle with red text using the left arm.", + "Hold the smooth bottle, shake it briefly.", + "Grab the white bottle carefully and shake.", + "Shake the plastic bottle after grabbing it.", + "Shake the white bottle with red text after holding it firmly.", + "Catch the white cylindrical bottle and shake it instantly.", + "Shake the the white bottle properly after lifting.", + "Lift the cylindrical bottle with red writing with the left arm and shake it.", + "Grip the white bottle for liquids using the left arm and shake." + ], + "unseen": [ + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to pick the bottle with orange cap.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to pick the bottle with orange cap.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with orange cap.", + "Pick and shake the the bottle with orange cap with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode292.json b/shake_bottle/ur5_randomized_500/instructions/episode292.json new file mode 100644 index 0000000000000000000000000000000000000000..7b61d3251261d58ed7905ed7a781c4a3e790e058 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode292.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium green bottle carefully and shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Grab and shake the medium-sized green bottle using the left arm.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Take the plastic bottle using the left arm and give it a shake.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Hold the smooth green bottle, shake it briefly.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Shake the handheld green bottle after lifting it.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Shake the medium green bottle after grabbing it.", + "Pick up the smooth green bottle and shake it well.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Pick the green bottle with indented base and perform shaking motion.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grip the bottle with narrow top using the left arm and shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Pick the handheld green bottle up with the left arm and shake.", + "Hold the smooth green bottle and shake it properly.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Lift the handheld green bottle and shake it gently.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab the bottle with ridges near base and shake it steadily.", + "Grab the bottle with rounded neck and give it a shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Grab the bottle with narrow top with the left arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Shake the smooth green bottle after holding it firmly.", + "Shake the the medium green bottle properly after lifting.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Hold the handheld green bottle steady, then shake it.", + "Pick the medium green bottle, shake it with the left arm.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Catch the medium green bottle and shake it instantly.", + "Grab the bottle with ridges near base carefully and shake.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Grab and shake the smooth green bottle using the left arm.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Hold the smooth green bottle, shake it briefly.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Shake the handheld green bottle after lifting it.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Use the left arm to lift and shake the medium green bottle.", + "Shake the medium green bottle after grabbing it.", + "Pick up the medium green bottle and shake it well.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Pick the medium green bottle and perform shaking motion.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Grip the green bottle with indented base using the left arm and shake.", + "Pick up the green bottle with indented base and shake it.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Lift the handheld green bottle and shake it gently.", + "Grab the handheld green bottle and move it to shake.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Shake the medium green bottle after grabbing it.", + "Grab the bottle with narrow top and shake it steadily.", + "Grab the green bottle with indented base and give it a shake.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Shake the the medium green bottle properly after lifting.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Shake the handheld green bottle firmly after grabbing.", + "Hold the medium-sized green bottle steady, then shake it.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Catch the bottle with white printed label and shake it instantly." + ], + "unseen": [ + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode293.json b/shake_bottle/ur5_randomized_500/instructions/episode293.json new file mode 100644 index 0000000000000000000000000000000000000000..a467794ef4f8c60419bcb4cb08c407fe6218e09d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode293.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the plastic drink bottle carefully.", + "Shake the the medium dark brown bottle properly after lifting.", + "Shake the long thin bottle firmly after grabbing.", + "Grab the narrow-necked bottle carefully and shake.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Hold the smooth bottle with red lid and shake it properly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Grip the brown bottle with red label using the right arm and shake.", + "Shake the narrow-necked bottle after holding it firmly.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Use the right arm to grab the Coca-Cola bottle and shake it.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Pick up the red-capped bottle and shake it well.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Secure the dark drink bottle with logo and perform a shake.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the smooth bottle with red lid after lifting it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Grab the bottle with white neck and red top and give it a shake.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Pick the red-capped bottle and perform shaking motion.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Grab and shake the brown bottle with red label using the right arm.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Grab the long thin bottle with the right arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Pick up the long thin bottle and shake it.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Shake the red-capped bottle firmly after grabbing.", + "Grab the long thin bottle carefully and shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Hold the long thin bottle and shake it properly.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Grip the brown bottle with red label using the right arm and shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Catch the red-capped bottle and shake it instantly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Pick the long thin bottle up using the right arm and shake it.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Pick up the long thin bottle and shake it well.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the narrow-necked bottle after lifting it.", + "Hold the red-capped bottle, shake it briefly.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Grab the Coca-Cola bottle and give it a shake.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Pick up the bottle with white neck and red top and shake it.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the bottle with white neck and red top and move it to shake.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Use the right arm to lift and shake the long thin bottle." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode294.json b/shake_bottle/ur5_randomized_500/instructions/episode294.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9fbbc07de9ba89277178852d2bb8f5f163268e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode294.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with dark brown color and perform a shake.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Lift the rounded bottle with printed details with the left arm and give it a shake.", + "Hold the medium plastic bottle, shake it briefly.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Lift the medium bottle with smooth texture and shake it gently.", + "Grab the handheld brown bottle with white lid with the left arm and shake.", + "Shake the medium plastic bottle after grabbing it.", + "Shake the bottle with dark brown color after grabbing it.", + "Use the left arm to pick and shake the medium plastic bottle.", + "Pick the handheld brown bottle with white lid up with the left arm and shake.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Grab and shake the plastic bottle for liquids using the left arm.", + "Grab the bottle with dark brown color using the left arm, then shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Grab the bottle with brown body and white top carefully and shake.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Utilize the left arm to hold the plastic bottle with printed label and shake it.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Secure the white-capped brown cylindrical bottle, shake it, and place it down.", + "Lift up the bottle with brown body and white top using the left arm, then shake.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "With the left arm, pick the plastic bottle with printed label and shake properly.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Hold the plastic bottle with printed label and shake it properly.", + "Use the left arm to lift and shake the plastic bottle with printed label.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Pick up the plastic bottle with printed label and shake it.", + "Grip the plastic bottle with printed label using the left arm and shake.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Pick the plastic bottle for liquids, shake it with the left arm.", + "Use the left arm to grab the rounded bottle with printed details and shake it.", + "Grab the bottle with brown body and white top firmly, shake it, and put it down.", + "Shake the rounded bottle with printed details using the left arm after grabbing.", + "Using the left arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Hold the handheld brown bottle with white lid steady, then shake it.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Take the medium plastic bottle using the left arm and give it a shake.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Hold the medium bottle with smooth texture with the left arm and shake lightly.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Use the left arm to hold the medium bottle with smooth texture and shake it.", + "Shake the white-capped brown cylindrical bottle after lifting it.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Use the left arm to grab the bottle with dark brown color and shake properly.", + "Secure the medium plastic bottle and perform a shake.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Lift the bottle with brown body and white top with the left arm and give it a shake.", + "Hold the medium plastic bottle, shake it briefly.", + "Shake the white-capped brown cylindrical bottle firmly after grabbing.", + "Lift the smooth brown bottle and shake it gently.", + "Grab the medium plastic bottle with the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Use the left arm to pick and shake the cylindrical bottle with narrow neck.", + "Pick the handheld brown bottle with white lid up with the left arm and shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Grab and shake the cylindrical bottle with narrow neck using the left arm.", + "Grab the cylindrical bottle with narrow neck using the left arm, then shake.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Grab the medium bottle with smooth texture carefully and shake.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Utilize the left arm to hold the plastic bottle for liquids and shake it.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Grab the medium plastic bottle and move it to shake.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Secure the bottle with brown body and white top, shake it, and place it down.", + "Lift up the plastic bottle for liquids using the left arm, then shake.", + "Grasp the plastic bottle with printed label with the left arm and shake it.", + "With the left arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Pick the cylindrical bottle with narrow neck up using the left arm and shake it.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Pick up the cylindrical bottle with narrow neck and shake it.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "Shake the plastic bottle with printed label after grabbing it.", + "Pick the cylindrical bottle with narrow neck, shake it with the left arm.", + "Use the left arm to grab the handheld brown bottle with white lid and shake it.", + "Grab the rounded bottle with printed details firmly, shake it, and put it down.", + "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.", + "Using the left arm, shake the bottle with dark brown color and then place it back.", + "Hold the bottle with dark brown color steady, then shake it.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake it.", + "Catch the white-capped brown cylindrical bottle and shake it instantly.", + "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.", + "Grab the plastic bottle for liquids and give it a shake.", + "Hold the rounded bottle with printed details with the left arm and shake lightly.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Use the left arm to hold the cylindrical bottle with narrow neck and shake it.", + "Shake the medium bottle with smooth texture after lifting it.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Use the left arm to grab the bottle with white cap and shake properly." + ], + "unseen": [ + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode295.json b/shake_bottle/ur5_randomized_500/instructions/episode295.json new file mode 100644 index 0000000000000000000000000000000000000000..78eed313087a1e246cfa5cc94658434537120dca --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode295.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Shake the bottle with white printed label after grabbing it.", + "Pick the smooth green bottle, shake it with the left arm.", + "Hold the plastic bottle and shake it properly.", + "Pick up the smooth green plastic bottle and shake it well.", + "Catch the bottle with ridges near base and shake it instantly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the smooth green bottle after grabbing it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift the plastic bottle and shake it gently.", + "Secure the bottle with rounded neck and perform a shake.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Pick the medium green bottle and perform shaking motion.", + "Hold and shake the the smooth green bottle carefully.", + "Pick up the handheld green bottle and shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Shake the bottle with narrow top after lifting it.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the medium green bottle firmly after grabbing.", + "Grip the bottle with narrow top using the left arm and shake.", + "Use the left arm to grab the medium green bottle and shake it.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Grab the medium-sized green bottle and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Pick the smooth green bottle up with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Lift the plastic bottle and shake it thoroughly.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Secure the smooth green bottle, shake it, and place it down.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab the smooth green bottle and move it to shake.", + "Grab the bottle with narrow top carefully and shake.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Hold the medium green bottle steady, then shake it.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Shake the bottle with white printed label after grabbing it.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Hold the bottle with rounded neck and shake it properly.", + "Pick up the green bottle with indented base and shake it well.", + "Catch the green bottle with indented base and shake it instantly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the handheld green bottle and shake it steadily.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the green bottle with indented base after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the bottle with white printed label and shake it gently.", + "Secure the smooth green bottle and perform a shake.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Pick the plastic bottle and perform shaking motion.", + "Hold and shake the the plastic bottle carefully.", + "Pick up the bottle with rounded neck and shake it.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the green bottle with indented base after lifting it.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Lift the bottle with white printed label with the left arm and shake.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Use the left arm to pick and shake the smooth green bottle.", + "Use the left arm to hold the medium green bottle and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grab the handheld green bottle with the left arm and shake.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Shake the medium green bottle firmly after grabbing.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Grab the plastic bottle and give it a shake.", + "Shake the the bottle with white printed label properly after lifting.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Hold the bottle with white printed label, shake it briefly.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Grab the handheld green bottle carefully and shake.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Lift the medium-sized green bottle with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode296.json b/shake_bottle/ur5_randomized_500/instructions/episode296.json new file mode 100644 index 0000000000000000000000000000000000000000..82b1ffdb1fec6a0b4d1b6f6b1e177a279b3d311d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode296.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark drink bottle with logo with the left arm and shake.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Pick the red-capped bottle up with the left arm and shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Grab the long thin bottle using the left arm, then shake.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Pick up the long thin bottle and shake it.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Shake the medium dark brown bottle after lifting it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Secure the long thin bottle and perform a shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Shake the long thin bottle firmly after grabbing.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the brown bottle with red label after holding it firmly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Hold the brown bottle with red label and shake it properly.", + "Hold the narrow-necked bottle steady, then shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grab the dark drink bottle with logo carefully and shake.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Grab the plastic drink bottle and give it a shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the long thin bottle using the left arm, then shake.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the brown bottle with red label after grabbing it.", + "Pick the red-capped bottle, shake it with the left arm.", + "Lift the long thin bottle and shake it thoroughly.", + "Use the left arm to lift and shake the long thin bottle.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Pick the long thin bottle up using the left arm and shake it.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Pick up the hand-sized soda bottle and shake it.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Shake the plastic drink bottle after lifting it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Secure the long thin bottle and perform a shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Shake the brown bottle with red label after holding it firmly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Hold the Coca-Cola bottle and shake it properly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Grab the Coca-Cola bottle carefully and shake.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Lift the Coca-Cola bottle and shake it gently.", + "Shake the the long thin bottle properly after lifting.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Use the left arm to pick and shake the red-capped bottle.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it." + ], + "unseen": [ + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode297.json b/shake_bottle/ur5_randomized_500/instructions/episode297.json new file mode 100644 index 0000000000000000000000000000000000000000..b677567cbfa6852143f32dfcd935a087e557c517 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode297.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the white-capped brown cylindrical bottle, shake it, and place it down.", + "Secure the plastic bottle with printed label and perform a shake.", + "Grab the bottle with dark brown color with the left arm and shake.", + "Shake the bottle with dark brown color after grabbing it.", + "Lift up the bottle with dark brown color using the left arm, then shake.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Using the left arm, shake the rounded bottle with printed details and then place it back.", + "Lift the rounded bottle with printed details with the left arm and shake.", + "Shake the medium plastic bottle using the left arm after grabbing.", + "Pick the bottle with dark brown color up using the left arm and shake it.", + "Pick up the rounded bottle with printed details and shake it well.", + "Grab the smooth brown bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle with printed label.", + "Shake the rounded bottle with printed details after lifting it.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "Lift the medium plastic bottle with the left arm and give it a shake.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Lift the rounded bottle with printed details with the left arm and shake it.", + "Use the left arm to grab the bottle with brown body and white top and shake properly.", + "Shake the bottle with dark brown color after holding it firmly.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "With the left arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Lift the bottle with brown body and white top and shake it gently.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Grasp the handheld brown bottle with white lid with the left arm and shake it.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Grab the bottle with dark brown color and move it to shake.", + "Lift the cylindrical bottle with narrow neck and shake it thoroughly.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Use the left arm to grab the handheld brown bottle with white lid and shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Shake the bottle with dark brown color after grabbing it.", + "Pick the bottle with brown body and white top, shake it with the left arm.", + "Use the left arm to pick and shake the handheld brown bottle with white lid.", + "Grab the rounded bottle with printed details and give it a shake.", + "Grab the bottle with white cap carefully and shake.", + "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.", + "Pick up the medium bottle with smooth texture and shake it.", + "Hold the bottle with white cap steady, then shake it.", + "Hold the rounded bottle with printed details with the left arm and shake lightly.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Grab and shake the handheld brown bottle with white lid using the left arm.", + "Grip the white-capped brown cylindrical bottle using the left arm and shake.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Use the left arm to hold the bottle with brown body and white top and shake it.", + "Grab the smooth brown bottle and shake it steadily.", + "Pick the medium bottle with smooth texture up with the left arm and shake.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the plastic bottle with printed label and shake it.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Secure the bottle with brown body and white top and perform a shake.", + "Grab the medium plastic bottle with the left arm and shake.", + "Shake the smooth brown bottle after grabbing it.", + "Lift up the medium plastic bottle using the left arm, then shake.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Using the left arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Lift the smooth brown bottle with the left arm and shake.", + "Shake the handheld brown bottle with white lid using the left arm after grabbing.", + "Pick the white-capped brown cylindrical bottle up using the left arm and shake it.", + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "Grab the cylindrical bottle with narrow neck using the left arm, then shake.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Shake the bottle with dark brown color after lifting it.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Lift the cylindrical bottle with narrow neck with the left arm and give it a shake.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Shake the medium plastic bottle after holding it firmly.", + "Hold the plastic bottle for liquids and shake it properly.", + "With the left arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Lift the medium bottle with smooth texture and shake it gently.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Grab the rounded bottle with printed details and move it to shake.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Hold and shake the the bottle with brown body and white top carefully.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Shake the medium plastic bottle after grabbing it.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Use the left arm to pick and shake the cylindrical bottle with narrow neck.", + "Grab the smooth brown bottle and give it a shake.", + "Grab the plastic bottle for liquids carefully and shake.", + "Take the cylindrical bottle with narrow neck using the left arm and give it a shake.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Hold the white-capped brown cylindrical bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Grab and shake the bottle with brown body and white top using the left arm.", + "Grip the medium bottle with smooth texture using the left arm and shake.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Pick the handheld brown bottle with white lid up with the left arm and shake.", + "Catch the smooth brown bottle and shake it instantly.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Utilize the left arm to hold the medium bottle with smooth texture and shake it." + ], + "unseen": [ + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode298.json b/shake_bottle/ur5_randomized_500/instructions/episode298.json new file mode 100644 index 0000000000000000000000000000000000000000..8cbc5c4638ef3e0517dd8b388542d0e3b14942ac --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode298.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the bottle for holding drinks.", + "Shake the smooth orange bottle after grabbing it.", + "Shake the curved orange soda bottle after holding it firmly.", + "Lift up the orange bottle using the left arm, then shake.", + "Use the left arm to lift and shake the orange bottle.", + "Catch the bottle for holding drinks and shake it instantly.", + "Lift the bottle for holding drinks with the left arm and shake.", + "Lift the light and medium-sized bottle with the left arm and shake it.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Hold and shake the the orange drink bottle with label carefully.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Pick the grooved orange drink bottle, shake it with the left arm.", + "Lift the curved orange soda bottle with the left arm and give it a shake.", + "Grab the plastic bottle and move it to shake.", + "Grip the light and medium-sized bottle using the left arm and shake.", + "Lift the cylindrical orange plastic bottle and shake it gently.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Grab the curved orange soda bottle and give it a shake.", + "Hold the medium bottle with colorful label, shake it briefly.", + "Hold the orange bottle with the left arm and shake lightly.", + "Take the orange bottle using the left arm and give it a shake.", + "Shake the orange drink bottle with label after lifting it.", + "Grab the curved orange soda bottle using the left arm, then shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the orange bottle using the left arm after grabbing.", + "Secure the light and medium-sized bottle and perform a shake.", + "Pick the orange bottle up with the left arm and shake.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Use the left arm to hold the plastic bottle and shake it.", + "Shake the curved orange soda bottle after grabbing it.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Hold the grooved orange drink bottle and shake it properly.", + "Utilize the left arm to hold the grooved orange drink bottle and shake it.", + "Grasp the smooth orange bottle with the left arm and shake it.", + "Pick the medium bottle with colorful label up using the left arm and shake it.", + "Grab the bottle for holding drinks with the left arm and shake.", + "Using the left arm, shake the cylindrical orange plastic bottle and then place it back.", + "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.", + "Grab and shake the cylindrical orange plastic bottle using the left arm.", + "Pick the cylindrical orange plastic bottle and perform shaking motion.", + "Grab the orange bottle carefully and shake.", + "Grab the plastic bottle and shake it steadily.", + "Hold the round-bottom bottle with white cap steady, then shake it.", + "Pick up the orange drink bottle with label and shake it.", + "Shake the the orange drink bottle with label properly after lifting.", + "Pick up the round-bottom bottle with white cap and shake it well.", + "Shake the orange bottle after grabbing it.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Use the left arm to grab the orange bottle and shake it.", + "Use the left arm to pick and shake the ridged orange bottle with grooves.", + "Shake the smooth orange bottle after grabbing it.", + "Shake the plastic bottle after holding it firmly.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Catch the curved orange soda bottle and shake it instantly.", + "Lift the orange drink bottle with label with the left arm and shake.", + "Lift the bottle for holding drinks with the left arm and shake it.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Hold and shake the the grooved orange drink bottle carefully.", + "With the left arm, pick the bottle for holding drinks and shake properly.", + "Pick the round-bottom bottle with white cap, shake it with the left arm.", + "Lift the light and medium-sized bottle with the left arm and give it a shake.", + "Grab the bottle for holding drinks and move it to shake.", + "Grip the orange drink bottle with label using the left arm and shake.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "Use the left arm to grab the smooth orange bottle and shake properly.", + "Grab the grooved orange drink bottle and give it a shake.", + "Hold the bottle for holding drinks, shake it briefly.", + "Hold the medium bottle with colorful label with the left arm and shake lightly.", + "Take the light and medium-sized bottle using the left arm and give it a shake.", + "Shake the smooth orange bottle after lifting it.", + "Grab the smooth orange bottle using the left arm, then shake.", + "Lift the curved orange soda bottle and shake it thoroughly.", + "Shake the medium bottle with colorful label using the left arm after grabbing.", + "Secure the bottle for holding drinks and perform a shake.", + "Pick the bottle for holding drinks up with the left arm and shake.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Use the left arm to hold the smooth orange bottle and shake it.", + "Shake the smooth orange bottle after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the orange bottle and shake it properly.", + "Utilize the left arm to hold the curved orange soda bottle and shake it.", + "Grasp the light and medium-sized bottle with the left arm and shake it.", + "Pick the orange drink bottle with label up using the left arm and shake it.", + "Grab the plastic bottle with the left arm and shake.", + "Using the left arm, shake the medium bottle with colorful label and then place it back.", + "Shake the grooved orange drink bottle thoroughly after grabbing it.", + "Grab and shake the cylindrical orange plastic bottle using the left arm.", + "Pick the cylindrical orange plastic bottle and perform shaking motion.", + "Grab the medium bottle with colorful label carefully and shake.", + "Grab the orange drink bottle with label and shake it steadily.", + "Hold the orange drink bottle with label steady, then shake it.", + "Pick up the light and medium-sized bottle and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Pick up the orange drink bottle with label and shake it well.", + "Shake the medium bottle with colorful label after grabbing it.", + "Shake the grooved orange drink bottle firmly after grabbing.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Use the left arm to grab the bottle for holding drinks and shake it." + ], + "unseen": [ + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode299.json b/shake_bottle/ur5_randomized_500/instructions/episode299.json new file mode 100644 index 0000000000000000000000000000000000000000..b1ab080e18797df3efa93ae891ac41323c9c58e3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode299.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with screw cap thoroughly after grabbing it.", + "Lift the handheld curvy bottle and shake it gently.", + "Shake the medium plastic bottle with cap after holding it firmly.", + "Grab the bottle for liquid and move it to shake.", + "Secure the medium plastic bottle with cap and perform a shake.", + "Grab the yellow bottle with blue label using the right arm, then shake.", + "Shake the the medium plastic bottle with cap properly after lifting.", + "Catch the bottle with screw cap and shake it instantly.", + "Use the right arm to grab the medium-sized bottle and shake it.", + "Take the medium-sized bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Shake the medium-sized bottle after grabbing it.", + "Using the right arm, shake the plastic bottle with curved sides and then place it back.", + "Pick the medium plastic bottle with cap up with the right arm and shake.", + "Pick the plastic bottle with curved sides up using the right arm and shake it.", + "Grasp the medium plastic bottle with cap with the right arm and shake it.", + "Lift the yellow bottle for liquid storage with the right arm and shake it.", + "Pick up the yellow bottle with dark label and shake it.", + "Grab the yellow bottle for liquid storage and shake it steadily.", + "Utilize the right arm to hold the bottle with screw cap and shake it.", + "Shake the bottle with screw cap after grabbing it.", + "Use the right arm to pick and shake the yellow bottle with blue label.", + "Secure the medium plastic bottle with cap, shake it, and place it down.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Hold and shake the the bottle for liquid carefully.", + "Pick up the yellow bottle with dark label and shake it well.", + "Grab the yellow bottle for liquid storage firmly, shake it, and put it down.", + "Hold the smooth plastic bottle and shake it properly.", + "Shake the yellow bottle for liquid storage after lifting it.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Grab the medium plastic bottle with cap and give it a shake.", + "Lift the bottle for liquid with the right arm and shake.", + "Lift the medium plastic bottle with cap and shake it thoroughly.", + "Lift up the medium-sized bottle using the right arm, then shake.", + "Grab the smooth plastic bottle carefully and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Grip the yellow bottle using the right arm and shake.", + "Lift the yellow bottle with the right arm and give it a shake.", + "With the right arm, pick the yellow bottle and shake properly.", + "Use the right arm to grab the medium plastic bottle with cap and shake properly.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the yellow bottle using the right arm after grabbing.", + "Hold the yellow bottle with dark label steady, then shake it.", + "Hold the yellow bottle for liquid storage, shake it briefly.", + "Hold the bottle with screw cap with the right arm and shake lightly.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Grab the medium-sized bottle with the right arm and shake.", + "Grab and shake the bottle for liquid using the right arm.", + "Pick the handheld curvy bottle, shake it with the right arm.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Shake the yellow bottle with dark label thoroughly after grabbing it.", + "Lift the handheld curvy bottle and shake it gently.", + "Shake the bottle for liquid after holding it firmly.", + "Grab the handheld curvy bottle and move it to shake.", + "Secure the bottle with screw cap and perform a shake.", + "Grab the bottle with screw cap using the right arm, then shake.", + "Shake the the yellow bottle for liquid storage properly after lifting.", + "Catch the yellow bottle for liquid storage and shake it instantly.", + "Use the right arm to grab the plastic bottle and shake it.", + "Take the medium-sized bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the handheld curvy bottle after grabbing it.", + "Using the right arm, shake the yellow bottle with blue label and then place it back.", + "Pick the yellow bottle up with the right arm and shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle with dark label and shake it steadily.", + "Utilize the right arm to hold the yellow bottle with dark label and shake it.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Use the right arm to pick and shake the medium plastic bottle with cap.", + "Secure the bottle for liquid, shake it, and place it down.", + "Shake the yellow bottle with dark label firmly after grabbing.", + "Hold and shake the the handheld curvy bottle carefully.", + "Pick up the medium-sized bottle and shake it well.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold the plastic bottle with curved sides and shake it properly.", + "Shake the medium plastic bottle with cap after lifting it.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "Grab the plastic bottle and give it a shake.", + "Lift the medium-sized bottle with the right arm and shake.", + "Lift the yellow bottle with dark label and shake it thoroughly.", + "Lift up the bottle with screw cap using the right arm, then shake.", + "Grab the plastic bottle carefully and shake.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Grip the plastic bottle with curved sides using the right arm and shake.", + "Lift the yellow bottle with the right arm and give it a shake.", + "With the right arm, pick the handheld curvy bottle and shake properly.", + "Use the right arm to grab the bottle with screw cap and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Shake the yellow bottle with dark label using the right arm after grabbing.", + "Hold the medium plastic bottle with cap steady, then shake it.", + "Hold the medium-sized bottle, shake it briefly.", + "Hold the yellow bottle with dark label with the right arm and shake lightly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grab the bottle for liquid with the right arm and shake.", + "Grab and shake the medium-sized bottle using the right arm.", + "Pick the yellow bottle with dark label, shake it with the right arm.", + "Pick the smooth plastic bottle and perform shaking motion." + ], + "unseen": [ + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode3.json b/shake_bottle/ur5_randomized_500/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..cfabdbc44bc6a74daabab0a7baaaa69cfe3f0f8a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium cylinder-shaped bottle with the left arm and give it a shake.", + "Pick the medium-sized plastic bottle up using the left arm and shake it.", + "Shake the bottle shaped like small cylinder after grabbing it.", + "Grab the gray bottle with slight shine and move it to shake.", + "Pick up the bottle shaped like small cylinder and shake it.", + "Use the left arm to pick and shake the bottle shaped like small cylinder.", + "Grasp the milk-bottle shape design with the left arm and shake it.", + "Use the left arm to lift and shake the hand-sized bottle with screw cap.", + "Grab the light gray colored container bottle carefully and shake.", + "Grab the bottle with cute ghost drawing using the left arm, then shake.", + "Hold the smooth cylindrical bottle steady, then shake it.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Lift the rounded body bottle made of plastic and shake it gently.", + "Use the left arm to hold the plastic bottle with ghost print and shake it.", + "Use the left arm to grab the bottle shaped like small cylinder and shake it.", + "Shake the milk-bottle shape design firmly after grabbing.", + "Pick up the bottle shaped like small cylinder and shake it well.", + "Grab the hand-sized bottle with screw cap and shake it steadily.", + "Grab and shake the rounded body bottle made of plastic using the left arm.", + "Shake the medium-sized plastic bottle thoroughly after grabbing it.", + "Grab the hand-sized bottle with screw cap with the left arm and shake.", + "Shake the the smooth cylindrical bottle properly after lifting.", + "Pick the medium-sized plastic bottle, shake it with the left arm.", + "Utilize the left arm to hold the medium-sized plastic bottle and shake it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Shake the gray bottle with slight shine after grabbing it.", + "Lift the smooth surface bottle with gray shade with the left arm and shake.", + "Hold the smooth surface bottle with gray shade with the left arm and shake lightly.", + "Use the left arm to lift and shake the milk-bottle shape design.", + "Secure the medium-sized plastic bottle, shake it, and place it down.", + "Pick the medium cylinder-shaped bottle up with the left arm and shake.", + "Lift up the smooth cylindrical bottle using the left arm, then shake.", + "Hold and shake the the smooth surface bottle with gray shade carefully.", + "Shake the bottle shaped like small cylinder after holding it firmly.", + "With the left arm, pick the gray bottle with slight shine and shake properly.", + "Lift the medium cylinder-shaped bottle with the left arm and shake it.", + "Lift the gray bottle with slight shine and shake it thoroughly.", + "Shake the smooth surface bottle with gray shade using the left arm after grabbing.", + "Grab the smooth cylindrical bottle and give it a shake.", + "Secure the milk-bottle shape design and perform a shake.", + "Hold the gray bottle with slight shine and shake it properly.", + "Grip the milk-bottle shape design using the left arm and shake.", + "Take the plastic bottle with ghost print using the left arm and give it a shake.", + "Hold the bottle shaped like small cylinder, shake it briefly.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Use the left arm to grab the light gray colored container bottle and shake properly.", + "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.", + "Pick the smooth surface bottle with gray shade and perform shaking motion.", + "Using the left arm, shake the plastic bottle with ghost print and then place it back.", + "Shake the gray bottle with slight shine after lifting it.", + "Lift the milk-bottle shape design with the left arm and give it a shake.", + "Pick the rounded body bottle made of plastic up using the left arm and shake it.", + "Shake the milk-bottle shape design after grabbing it.", + "Grab the bottle shaped like small cylinder and move it to shake.", + "Pick up the smooth cylindrical bottle and shake it.", + "Use the left arm to pick and shake the milk-bottle shape design.", + "Grasp the smooth surface bottle with gray shade with the left arm and shake it.", + "Use the left arm to lift and shake the medium-sized plastic bottle.", + "Grab the bottle with cute ghost drawing carefully and shake.", + "Grab the rounded body bottle made of plastic using the left arm, then shake.", + "Hold the smooth cylindrical bottle steady, then shake it.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "Lift the bottle with cute ghost drawing and shake it gently.", + "Use the left arm to hold the light gray colored container bottle and shake it.", + "Use the left arm to grab the medium-sized plastic bottle and shake it.", + "Shake the smooth cylindrical bottle firmly after grabbing.", + "Pick up the bottle with cute ghost drawing and shake it well.", + "Grab the medium cylinder-shaped bottle and shake it steadily.", + "Grab and shake the medium cylinder-shaped bottle using the left arm.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Grab the milk-bottle shape design with the left arm and shake.", + "Shake the the plastic bottle with ghost print properly after lifting.", + "Pick the plastic bottle with ghost print, shake it with the left arm.", + "Utilize the left arm to hold the hand-sized bottle with screw cap and shake it.", + "Shake the light gray colored container bottle after grabbing it.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Lift the milk-bottle shape design with the left arm and shake.", + "Hold the medium-sized plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium cylinder-shaped bottle.", + "Secure the smooth cylindrical bottle, shake it, and place it down.", + "Pick the light gray colored container bottle up with the left arm and shake.", + "Lift up the rounded body bottle made of plastic using the left arm, then shake.", + "Hold and shake the the hand-sized bottle with screw cap carefully.", + "Shake the medium cylinder-shaped bottle after holding it firmly.", + "With the left arm, pick the bottle shaped like small cylinder and shake properly.", + "Lift the gray bottle with slight shine with the left arm and shake it.", + "Lift the bottle with cute ghost drawing and shake it thoroughly.", + "Shake the medium cylinder-shaped bottle using the left arm after grabbing.", + "Grab the rounded body bottle made of plastic and give it a shake.", + "Secure the plastic bottle with ghost print and perform a shake.", + "Hold the gray bottle with slight shine and shake it properly.", + "Grip the medium cylinder-shaped bottle using the left arm and shake.", + "Take the milk-bottle shape design using the left arm and give it a shake.", + "Hold the plastic bottle with ghost print, shake it briefly.", + "Catch the medium cylinder-shaped bottle and shake it instantly.", + "Use the left arm to grab the bottle with cute ghost drawing and shake properly.", + "Grab the smooth cylindrical bottle firmly, shake it, and put it down.", + "Pick the plastic bottle with ghost print and perform shaking motion.", + "Using the left arm, shake the bottle with cute ghost drawing and then place it back.", + "Shake the rounded body bottle made of plastic after lifting it." + ], + "unseen": [ + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick and shake the the bottle with rounded cap top with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode30.json b/shake_bottle/ur5_randomized_500/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..9dbd561e2b8642843a6b63530489ffe1786b34ef --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Pick the medium plastic bottle, shake it with the right arm.", + "Using the right arm, shake the plastic bottle with printed label and then place it back.", + "Shake the bottle with dark brown color after grabbing it.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Lift the handheld brown bottle with white lid with the right arm and shake it.", + "Pick up the plastic bottle for liquids and shake it well.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Shake the plastic bottle for liquids after grabbing it.", + "Shake the bottle with white cap after lifting it.", + "Pick the white-capped brown cylindrical bottle up using the right arm and shake it.", + "With the right arm, pick the cylindrical bottle with narrow neck and shake properly.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Use the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Hold the bottle with white cap with the right arm and shake lightly.", + "Secure the white-capped brown cylindrical bottle and perform a shake.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Shake the smooth brown bottle after grabbing it.", + "Lift the plastic bottle with printed label and shake it gently.", + "Utilize the right arm to hold the medium plastic bottle and shake it.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Grab and shake the bottle with white cap using the right arm.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Shake the smooth brown bottle using the right arm after grabbing.", + "Hold the bottle with white cap, shake it briefly.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Grab the smooth brown bottle with the right arm and shake.", + "Lift the handheld brown bottle with white lid with the right arm and give it a shake.", + "Grab the handheld brown bottle with white lid and move it to shake.", + "Take the bottle with white cap using the right arm and give it a shake.", + "Pick up the plastic bottle for liquids and shake it.", + "Shake the the rounded bottle with printed details properly after lifting.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Lift up the handheld brown bottle with white lid using the right arm, then shake.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Grab the cylindrical bottle with narrow neck carefully and shake.", + "Pick the plastic bottle for liquids up with the right arm and shake.", + "Lift the bottle with white cap with the right arm and shake.", + "Use the right arm to pick and shake the smooth brown bottle.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Grip the handheld brown bottle with white lid using the right arm and shake.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Grasp the plastic bottle for liquids with the right arm and shake it.", + "Hold and shake the the rounded bottle with printed details carefully.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Pick the medium plastic bottle, shake it with the right arm.", + "Using the right arm, shake the handheld brown bottle with white lid and then place it back.", + "Shake the bottle with dark brown color after grabbing it.", + "Use the right arm to grab the cylindrical bottle with narrow neck and shake it.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake it.", + "Pick up the handheld brown bottle with white lid and shake it well.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Shake the plastic bottle with printed label after grabbing it.", + "Shake the cylindrical bottle with narrow neck after lifting it.", + "Pick the bottle with dark brown color up using the right arm and shake it.", + "With the right arm, pick the medium bottle with smooth texture and shake properly.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Use the right arm to hold the medium bottle with smooth texture and shake it.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Hold the smooth brown bottle with the right arm and shake lightly.", + "Secure the rounded bottle with printed details and perform a shake.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Lift the rounded bottle with printed details and shake it gently.", + "Utilize the right arm to hold the bottle with dark brown color and shake it.", + "Shake the rounded bottle with printed details firmly after grabbing.", + "Grab and shake the smooth brown bottle using the right arm.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Hold the rounded bottle with printed details steady, then shake it.", + "Shake the handheld brown bottle with white lid using the right arm after grabbing.", + "Hold the plastic bottle for liquids, shake it briefly.", + "Hold the cylindrical bottle with narrow neck and shake it properly.", + "Grab the rounded bottle with printed details with the right arm and shake.", + "Lift the smooth brown bottle with the right arm and give it a shake.", + "Grab the white-capped brown cylindrical bottle and move it to shake.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Pick up the medium bottle with smooth texture and shake it.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift up the bottle with dark brown color using the right arm, then shake.", + "Catch the medium bottle with smooth texture and shake it instantly.", + "Grab the bottle with dark brown color carefully and shake.", + "Pick the medium plastic bottle up with the right arm and shake.", + "Lift the medium bottle with smooth texture with the right arm and shake.", + "Use the right arm to pick and shake the bottle with white cap.", + "Use the right arm to grab the medium bottle with smooth texture and shake properly.", + "Grip the rounded bottle with printed details using the right arm and shake.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Grab the handheld brown bottle with white lid and give it a shake.", + "Grab the bottle with brown body and white top and shake it steadily." + ], + "unseen": [ + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode300.json b/shake_bottle/ur5_randomized_500/instructions/episode300.json new file mode 100644 index 0000000000000000000000000000000000000000..aecedb00bc24b3cee1670416440771f465842bff --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode300.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with dark brown color and perform a shake.", + "Hold and shake the the bottle with white cap carefully.", + "Grab the bottle with white cap carefully and shake.", + "Shake the bottle with white cap after holding it firmly.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Grip the medium bottle with smooth texture using the left arm and shake.", + "Lift the bottle with white cap with the left arm and shake.", + "Hold the plastic bottle for liquids, shake it briefly.", + "Shake the smooth brown bottle using the left arm after grabbing.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Lift the rounded bottle with printed details with the left arm and give it a shake.", + "Lift up the handheld brown bottle with white lid using the left arm, then shake.", + "Pick up the rounded bottle with printed details and shake it well.", + "Use the left arm to pick and shake the smooth brown bottle.", + "Pick up the rounded bottle with printed details and shake it.", + "Lift the bottle with white cap and shake it thoroughly.", + "Hold the handheld brown bottle with white lid with the left arm and shake lightly.", + "Pick the bottle with brown body and white top and perform shaking motion.", + "Shake the plastic bottle for liquids after grabbing it.", + "Use the left arm to grab the rounded bottle with printed details and shake it.", + "Take the rounded bottle with printed details using the left arm and give it a shake.", + "With the left arm, pick the plastic bottle with printed label and shake properly.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Grab the cylindrical bottle with narrow neck with the left arm and shake.", + "Use the left arm to hold the cylindrical bottle with narrow neck and shake it.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Shake the the bottle with white cap properly after lifting.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Grab the medium plastic bottle and give it a shake.", + "Utilize the left arm to hold the cylindrical bottle with narrow neck and shake it.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Pick the medium plastic bottle up using the left arm and shake it.", + "Shake the bottle with dark brown color after grabbing it.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Grab the plastic bottle for liquids using the left arm, then shake.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Using the left arm, shake the smooth brown bottle and then place it back.", + "Lift the smooth brown bottle with the left arm and shake it.", + "Use the left arm to grab the medium bottle with smooth texture and shake properly.", + "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.", + "Pick the cylindrical bottle with narrow neck up with the left arm and shake.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Shake the cylindrical bottle with narrow neck after lifting it.", + "Grasp the medium bottle with smooth texture with the left arm and shake it.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Grab and shake the medium bottle with smooth texture using the left arm.", + "Secure the bottle with dark brown color and perform a shake.", + "Hold and shake the the bottle with white cap carefully.", + "Grab the rounded bottle with printed details carefully and shake.", + "Shake the bottle with white cap after holding it firmly.", + "Hold the medium plastic bottle and shake it properly.", + "Grip the bottle with brown body and white top using the left arm and shake.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Shake the handheld brown bottle with white lid using the left arm after grabbing.", + "Secure the white-capped brown cylindrical bottle, shake it, and place it down.", + "Lift the medium bottle with smooth texture with the left arm and give it a shake.", + "Lift up the rounded bottle with printed details using the left arm, then shake.", + "Pick up the plastic bottle with printed label and shake it well.", + "Use the left arm to pick and shake the smooth brown bottle.", + "Pick up the rounded bottle with printed details and shake it.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Hold the plastic bottle for liquids with the left arm and shake lightly.", + "Pick the medium plastic bottle and perform shaking motion.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Use the left arm to grab the smooth brown bottle and shake it.", + "Take the plastic bottle for liquids using the left arm and give it a shake.", + "With the left arm, pick the medium bottle with smooth texture and shake properly.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Grab the bottle with dark brown color with the left arm and shake.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Hold the smooth brown bottle steady, then shake it.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Shake the the medium bottle with smooth texture properly after lifting.", + "Grab the bottle with brown body and white top and shake it steadily.", + "Pick the bottle with dark brown color, shake it with the left arm.", + "Grab the medium plastic bottle and give it a shake.", + "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Lift the rounded bottle with printed details and shake it gently.", + "Pick the bottle with dark brown color up using the left arm and shake it.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Grab the medium plastic bottle and move it to shake.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Grab the rounded bottle with printed details using the left arm, then shake.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Using the left arm, shake the medium bottle with smooth texture and then place it back.", + "Lift the bottle with brown body and white top with the left arm and shake it.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Pick the plastic bottle with printed label up with the left arm and shake.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Grasp the handheld brown bottle with white lid with the left arm and shake it.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Shake the smooth brown bottle after grabbing it.", + "Grab and shake the cylindrical bottle with narrow neck using the left arm." + ], + "unseen": [ + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode301.json b/shake_bottle/ur5_randomized_500/instructions/episode301.json new file mode 100644 index 0000000000000000000000000000000000000000..dacce1478543a287b2304090ec827b8ba3da09f7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode301.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grip the handheld green bottle using the left arm and shake.", + "Hold the bottle with narrow top and shake it properly.", + "Hold the green bottle with indented base steady, then shake it.", + "Grab the smooth green bottle using the left arm, then shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Lift the smooth green bottle and shake it gently.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Grasp the medium green bottle with the left arm and shake it.", + "Grab the smooth green plastic bottle carefully and shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the plastic bottle after lifting it.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Pick up the handheld green bottle and shake it well.", + "Shake the plastic bottle after holding it firmly.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grab the bottle with white printed label with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Lift the smooth green bottle with the left arm and shake it.", + "Grab the smooth green bottle and shake it steadily.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Grab the green bottle with indented base and move it to shake.", + "Lift the bottle with white printed label with the left arm and shake.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Hold the plastic bottle, shake it briefly.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Hold and shake the the handheld green bottle carefully.", + "Grab the medium-sized green bottle and give it a shake.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Secure the bottle with white printed label and perform a shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Hold the medium green bottle and shake it properly.", + "Hold the handheld green bottle steady, then shake it.", + "Grab the smooth green bottle using the left arm, then shake.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Pick the handheld green bottle, shake it with the left arm.", + "Lift the plastic bottle and shake it gently.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Grab the smooth green plastic bottle carefully and shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Catch the bottle with ridges near base and shake it instantly.", + "Shake the bottle with narrow top after lifting it.", + "Lift the smooth green bottle and shake it thoroughly.", + "Pick the smooth green bottle up with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Pick up the green bottle with indented base and shake it well.", + "Shake the plastic bottle after holding it firmly.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grab the handheld green bottle with the left arm and shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the medium green bottle with the left arm and shake it.", + "Grab the smooth green bottle and shake it steadily.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Shake the the bottle with narrow top properly after lifting.", + "Shake the handheld green bottle firmly after grabbing.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Lift the smooth green bottle with the left arm and shake.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Lift up the plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the smooth green plastic bottle and give it a shake.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Secure the bottle with rounded neck and perform a shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Take the smooth green bottle using the left arm and give it a shake." + ], + "unseen": [ + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode302.json b/shake_bottle/ur5_randomized_500/instructions/episode302.json new file mode 100644 index 0000000000000000000000000000000000000000..f18b1c0713ca1dd680ef7dd007d060c0ee25d538 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode302.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the Coca-Cola bottle carefully.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Lift the hand-sized soda bottle and shake it gently.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Use the left arm to lift and shake the long thin bottle.", + "Lift the red-capped bottle with the left arm and shake.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab the bottle with white neck and red top and move it to shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grip the brown bottle with red label using the left arm and shake.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grasp the long thin bottle with the left arm and shake it.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Hold the narrow-necked bottle steady, then shake it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Secure the long thin bottle and perform a shake.", + "Shake the the red-capped bottle properly after lifting.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Shake the long thin bottle after lifting it.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Pick up the long thin bottle and shake it.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Pick the red-capped bottle, shake it with the left arm.", + "Use the left arm to lift and shake the long thin bottle.", + "Hold the red-capped bottle, shake it briefly.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Hold and shake the the plastic drink bottle carefully.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Lift the bottle with white neck and red top and shake it gently.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Lift the brown bottle with red label with the left arm and shake.", + "Shake the brown bottle with red label firmly after grabbing.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grab the red-capped bottle and move it to shake.", + "Shake the long thin bottle after grabbing it.", + "Grip the plastic drink bottle using the left arm and shake.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Secure the bottle with white neck and red top and perform a shake.", + "Shake the the red-capped bottle properly after lifting.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Shake the long thin bottle after holding it firmly.", + "Shake the dark drink bottle with logo after lifting it.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode303.json b/shake_bottle/ur5_randomized_500/instructions/episode303.json new file mode 100644 index 0000000000000000000000000000000000000000..6bab128498253c46b5f9eabe1f45c7d5e2666610 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode303.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle with red cap and shake properly.", + "Pick up the bottle with red cap and shake it.", + "Use the right arm to hold the red bottle with screw cap and shake it.", + "Lift the red bottle with white bottom text with the right arm and shake.", + "Utilize the right arm to hold the plastic bottle with bright red color and shake it.", + "Shake the red bottle firmly after grabbing.", + "Shake the red bottle with curved grooves using the right arm after grabbing.", + "Lift the plastic bottle with bright red color and shake it thoroughly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the red bottle with white bottom text thoroughly after grabbing it.", + "With the right arm, pick the yellow text bottle and shake properly.", + "Shake the medium-size plastic bottle after grabbing it.", + "Lift up the red bottle using the right arm, then shake.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Hold the smooth red cylindrical bottle, shake it briefly.", + "Use the right arm to pick and shake the plastic bottle with bright red color.", + "Use the right arm to grab the red bottle with white bottom text and shake it.", + "Take the red bottle with white bottom text using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with red cap.", + "Grip the red bottle with white bottom text using the right arm and shake.", + "Pick the bottle with red cap and perform shaking motion.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the red bottle with narrow neck carefully and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Catch the smooth red cylindrical bottle and shake it instantly.", + "Grab and shake the medium-size plastic bottle using the right arm.", + "Grab the bottle with red cap using the right arm, then shake.", + "Grasp the red bottle with screw cap with the right arm and shake it.", + "Pick the red bottle with curved grooves, shake it with the right arm.", + "Secure the red bottle and perform a shake.", + "Shake the medium-size plastic bottle after lifting it.", + "Grab the handheld plastic bottle and give it a shake.", + "Shake the red bottle with curved grooves after holding it firmly.", + "Using the right arm, shake the bottle with red cap and then place it back.", + "Shake the the red bottle properly after lifting.", + "Hold and shake the the yellow text bottle carefully.", + "Shake the red bottle after grabbing it.", + "Grab the red bottle with screw cap and shake it steadily.", + "Grab the handheld plastic bottle with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Lift the smooth red cylindrical bottle with the right arm and give it a shake.", + "Grab the yellow text bottle and move it to shake.", + "Hold the red bottle with white bottom text and shake it properly.", + "Hold the red bottle steady, then shake it.", + "Pick up the smooth red cylindrical bottle and shake it well.", + "Use the right arm to lift and shake the yellow text bottle.", + "Lift the plastic bottle with bright red color with the right arm and shake it.", + "Secure the red bottle, shake it, and place it down.", + "Pick the yellow text bottle up with the right arm and shake.", + "Lift the handheld plastic bottle and shake it gently.", + "Use the right arm to grab the plastic bottle with bright red color and shake properly.", + "Pick up the red bottle and shake it.", + "Use the right arm to hold the red bottle with white bottom text and shake it.", + "Lift the plastic bottle with bright red color with the right arm and shake.", + "Utilize the right arm to hold the red bottle with narrow neck and shake it.", + "Shake the red bottle with white bottom text firmly after grabbing.", + "Shake the plastic bottle using the right arm after grabbing.", + "Lift the red bottle with narrow neck and shake it thoroughly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the red bottle with screw cap thoroughly after grabbing it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the medium-size plastic bottle after grabbing it.", + "Lift up the red bottle with narrow neck using the right arm, then shake.", + "Hold the red bottle with narrow neck with the right arm and shake lightly.", + "Hold the red bottle with screw cap, shake it briefly.", + "Use the right arm to pick and shake the red bottle with screw cap.", + "Use the right arm to grab the plastic bottle and shake it.", + "Take the plastic bottle with bright red color using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium-size plastic bottle.", + "Grip the handheld plastic bottle using the right arm and shake.", + "Pick the red bottle and perform shaking motion.", + "Grab the red bottle with narrow neck firmly, shake it, and put it down.", + "Grab the bottle with red cap carefully and shake.", + "Use the right arm to lift and shake the medium-size plastic bottle.", + "Catch the plastic bottle with bright red color and shake it instantly.", + "Grab and shake the plastic bottle with bright red color using the right arm.", + "Grab the yellow text bottle using the right arm, then shake.", + "Grasp the plastic bottle with bright red color with the right arm and shake it.", + "Pick the medium-size plastic bottle, shake it with the right arm.", + "Secure the bottle with red cap and perform a shake.", + "Shake the medium-size plastic bottle after lifting it.", + "Grab the red bottle with narrow neck and give it a shake.", + "Shake the red bottle with curved grooves after holding it firmly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Shake the the handheld plastic bottle properly after lifting.", + "Hold and shake the the bottle with red cap carefully.", + "Shake the smooth red cylindrical bottle after grabbing it.", + "Grab the plastic bottle and shake it steadily.", + "Grab the plastic bottle with bright red color with the right arm and shake.", + "Shake the medium-size plastic bottle after grabbing it.", + "Lift the bottle with red cap with the right arm and give it a shake.", + "Grab the red bottle with white bottom text and move it to shake.", + "Hold the red bottle with white bottom text and shake it properly.", + "Hold the red bottle with white bottom text steady, then shake it.", + "Pick up the medium-size plastic bottle and shake it well.", + "Use the right arm to lift and shake the medium-size plastic bottle.", + "Lift the smooth red cylindrical bottle with the right arm and shake it.", + "Secure the plastic bottle with bright red color, shake it, and place it down.", + "Pick the smooth red cylindrical bottle up with the right arm and shake.", + "Lift the smooth red cylindrical bottle and shake it gently." + ], + "unseen": [ + "Grab the bottle with white and yellow label and give it a shake.", + "Grab the shiny red bottle and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the shiny red bottle with the right arm.", + "Use the right arm to pick the bottle with white and yellow label.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Grab the shiny red bottle and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Grab the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Use the right arm to pick the bottle with white and yellow label.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Grab the shiny red bottle and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the shiny red bottle with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Grab the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Grab the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the shiny red bottle and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode304.json b/shake_bottle/ur5_randomized_500/instructions/episode304.json new file mode 100644 index 0000000000000000000000000000000000000000..35198af39e1e5a010bc36d0dc33850e600227fdc --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode304.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with printed label with the left arm and give it a shake.", + "Grasp the medium plastic bottle with the left arm and shake it.", + "Shake the the bottle with white cap properly after lifting.", + "Shake the white-capped brown cylindrical bottle after holding it firmly.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Grip the plastic bottle with printed label using the left arm and shake.", + "Use the left arm to hold the medium plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it well.", + "Hold the bottle with dark brown color with the left arm and shake lightly.", + "Lift up the handheld brown bottle with white lid using the left arm, then shake.", + "Using the left arm, shake the bottle with brown body and white top and then place it back.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Secure the bottle with brown body and white top, shake it, and place it down.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Lift the plastic bottle for liquids and shake it gently.", + "Grab the plastic bottle for liquids firmly, shake it, and put it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Shake the bottle with white cap after lifting it.", + "Use the left arm to grab the medium plastic bottle and shake it.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Grab the smooth brown bottle carefully and shake.", + "Pick the bottle with dark brown color up using the left arm and shake it.", + "Grab the plastic bottle with printed label with the left arm and shake.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Grab the bottle with white cap and give it a shake.", + "Shake the smooth brown bottle firmly after grabbing.", + "Shake the rounded bottle with printed details using the left arm after grabbing.", + "Pick the bottle with brown body and white top up with the left arm and shake.", + "Utilize the left arm to hold the rounded bottle with printed details and shake it.", + "Grab and shake the medium plastic bottle using the left arm.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Use the left arm to pick and shake the bottle with brown body and white top.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Grab the smooth brown bottle using the left arm, then shake.", + "Hold and shake the the medium plastic bottle carefully.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Lift the plastic bottle for liquids with the left arm and shake.", + "Lift the handheld brown bottle with white lid with the left arm and shake it.", + "With the left arm, pick the medium bottle with smooth texture and shake properly.", + "Take the cylindrical bottle with narrow neck using the left arm and give it a shake.", + "Shake the bottle with white cap after grabbing it.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Lift the bottle with dark brown color with the left arm and give it a shake.", + "Grasp the medium bottle with smooth texture with the left arm and shake it.", + "Shake the the handheld brown bottle with white lid properly after lifting.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Grip the white-capped brown cylindrical bottle using the left arm and shake.", + "Use the left arm to hold the medium plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it well.", + "Hold the handheld brown bottle with white lid with the left arm and shake lightly.", + "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.", + "Using the left arm, shake the medium bottle with smooth texture and then place it back.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Secure the bottle with white cap, shake it, and place it down.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Lift the rounded bottle with printed details and shake it gently.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Pick up the plastic bottle for liquids and shake it.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Shake the medium plastic bottle after lifting it.", + "Use the left arm to grab the bottle with brown body and white top and shake it.", + "Shake the smooth brown bottle after grabbing it.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Shake the plastic bottle with printed label after grabbing it.", + "Grab the handheld brown bottle with white lid and move it to shake.", + "Grab the rounded bottle with printed details carefully and shake.", + "Pick the plastic bottle for liquids up using the left arm and shake it.", + "Grab the medium bottle with smooth texture with the left arm and shake.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Grab the medium bottle with smooth texture and give it a shake.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Shake the medium bottle with smooth texture using the left arm after grabbing.", + "Pick the rounded bottle with printed details up with the left arm and shake.", + "Utilize the left arm to hold the bottle with brown body and white top and shake it.", + "Grab and shake the white-capped brown cylindrical bottle using the left arm.", + "Secure the plastic bottle with printed label and perform a shake.", + "Use the left arm to pick and shake the plastic bottle for liquids.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Grab the bottle with white cap using the left arm, then shake.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Lift the bottle with dark brown color with the left arm and shake.", + "Lift the smooth brown bottle with the left arm and shake it.", + "With the left arm, pick the medium bottle with smooth texture and shake properly.", + "Take the plastic bottle with printed label using the left arm and give it a shake.", + "Shake the plastic bottle for liquids after grabbing it.", + "Pick the white-capped brown cylindrical bottle, shake it with the left arm.", + "Use the left arm to lift and shake the medium bottle with smooth texture." + ], + "unseen": [ + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode305.json b/shake_bottle/ur5_randomized_500/instructions/episode305.json new file mode 100644 index 0000000000000000000000000000000000000000..6fcaefd4a4e3a55c453eb0404e5fe29590973176 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode305.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the green bottle with indented base and perform shaking motion.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Shake the medium-sized green bottle after grabbing it.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Hold the bottle with white printed label steady, then shake it.", + "Grab the handheld green bottle and give it a shake.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Shake the bottle with narrow top after holding it firmly.", + "Secure the bottle with white printed label and perform a shake.", + "Grab the green bottle with indented base and move it to shake.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Shake the medium-sized green bottle after lifting it.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Lift the green bottle with indented base and shake it gently.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Lift the bottle with white printed label with the right arm and shake.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Pick up the smooth green plastic bottle and shake it.", + "Catch the green bottle with indented base and shake it instantly.", + "Hold the bottle with ridges near base and shake it properly.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Pick up the smooth green plastic bottle and shake it well.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the medium green bottle and shake it steadily.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Shake the bottle with narrow top after grabbing it.", + "Hold and shake the the bottle with rounded neck carefully.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Use the right arm to grab the bottle with narrow top and shake it.", + "Grip the handheld green bottle using the right arm and shake.", + "Shake the the medium-sized green bottle properly after lifting.", + "Grasp the medium green bottle with capped neck with the right arm and shake it.", + "Grab the bottle with rounded neck carefully and shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Lift the medium green bottle with the right arm and shake it.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Hold the medium green bottle steady, then shake it.", + "Grab the bottle with white printed label and give it a shake.", + "Pick the handheld green bottle, shake it with the right arm.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Shake the plastic bottle after holding it firmly.", + "Secure the medium-sized green bottle and perform a shake.", + "Grab the bottle with rounded neck and move it to shake.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the medium green bottle with capped neck after lifting it.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Lift the bottle with white printed label and shake it gently.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Pick up the bottle with narrow top and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Hold the bottle with white printed label and shake it properly.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Pick up the bottle with ridges near base and shake it well.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grab the bottle with white printed label and shake it steadily.", + "Secure the smooth green bottle, shake it, and place it down.", + "Grab and shake the bottle with white printed label using the right arm.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Shake the smooth green bottle after grabbing it.", + "Hold and shake the the bottle with rounded neck carefully.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Grip the bottle with white printed label using the right arm and shake.", + "Shake the the handheld green bottle properly after lifting.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Grab the smooth green bottle carefully and shake.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down." + ], + "unseen": [ + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode306.json b/shake_bottle/ur5_randomized_500/instructions/episode306.json new file mode 100644 index 0000000000000000000000000000000000000000..f050f45f8c4ca2c606a283f5593bf61ff26dbeb5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode306.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the handheld bottle and give it a shake.", + "Use the left arm to lift and shake the blue bottle.", + "Shake the plastic bottle using the left arm after grabbing.", + "Using the left arm, shake the white and blue bottle and then place it back.", + "Use the left arm to pick and shake the white and blue bottle.", + "Hold the cylindrical bottle steady, then shake it.", + "Secure the cylindrical bottle and perform a shake.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Pick the medium bottle for beverages, shake it with the left arm.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Grab the medium-sized bottle firmly, shake it, and put it down.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the white bottle with blue accents and shake it steadily.", + "Hold the handheld bottle with the left arm and shake lightly.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Pick up the medium-sized bottle and shake it.", + "Grab and shake the medium bottle for beverages using the left arm.", + "Shake the cylindrical bottle after grabbing it.", + "Grasp the white and blue bottle with the left arm and shake it.", + "Pick up the blue bottle and shake it well.", + "Lift the white bottle with blue accents with the left arm and shake.", + "Hold and shake the the bottle for liquids carefully.", + "Shake the the bottle for liquids properly after lifting.", + "Take the cylindrical bottle using the left arm and give it a shake.", + "Hold the bottle with blue cap, shake it briefly.", + "Use the left arm to lift and shake the handheld bottle.", + "Lift up the cylindrical bottle using the left arm, then shake.", + "Shake the blue bottle after lifting it.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Grab the white and blue bottle with the left arm and shake.", + "Lift the white and blue bottle with the left arm and shake it.", + "Grab the blue bottle carefully and shake.", + "Hold the medium bottle for beverages and shake it properly.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Lift the handheld bottle and shake it gently.", + "Grab the white and blue bottle using the left arm, then shake.", + "Grip the medium-sized bottle using the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the blue bottle with label and shake it.", + "Catch the medium-sized bottle and shake it instantly.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Shake the handheld bottle firmly after grabbing.", + "Shake the bottle for liquids after holding it firmly.", + "Grab the white bottle with blue accents and move it to shake.", + "Grab the bottle for liquids and give it a shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Shake the blue bottle with label using the left arm after grabbing.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Use the left arm to pick and shake the medium bottle for beverages.", + "Hold the white bottle with blue accents steady, then shake it.", + "Secure the bottle for liquids and perform a shake.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Pick the white bottle with blue accents, shake it with the left arm.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Use the left arm to grab the white bottle with blue accents and shake properly.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Grab the medium-sized bottle and shake it steadily.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Pick up the blue bottle with label and shake it.", + "Grab and shake the medium-sized bottle using the left arm.", + "Shake the medium-sized bottle after grabbing it.", + "Grasp the cylindrical bottle with the left arm and shake it.", + "Pick up the plastic bottle and shake it well.", + "Lift the medium bottle for beverages with the left arm and shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Shake the the bottle for liquids properly after lifting.", + "Take the medium bottle for beverages using the left arm and give it a shake.", + "Hold the medium-sized bottle, shake it briefly.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Lift up the handheld bottle using the left arm, then shake.", + "Shake the white bottle with blue accents after lifting it.", + "Pick the handheld bottle up with the left arm and shake.", + "Grab the handheld bottle with the left arm and shake.", + "Lift the cylindrical bottle with the left arm and shake it.", + "Grab the handheld bottle carefully and shake.", + "Hold the handheld bottle and shake it properly.", + "Pick the plastic bottle and perform shaking motion.", + "Lift the white bottle with blue accents and shake it gently.", + "Grab the white bottle with blue accents using the left arm, then shake.", + "Grip the white bottle with blue accents using the left arm and shake.", + "Shake the blue bottle after grabbing it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Catch the white and blue bottle and shake it instantly.", + "Shake the blue bottle after grabbing it.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Lift the blue bottle and shake it thoroughly.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Shake the white and blue bottle firmly after grabbing.", + "Shake the medium-sized bottle after holding it firmly.", + "Grab the bottle for liquids and move it to shake." + ], + "unseen": [ + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode307.json b/shake_bottle/ur5_randomized_500/instructions/episode307.json new file mode 100644 index 0000000000000000000000000000000000000000..5090d044575bd0e3aff2209dc18973e966c28b58 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode307.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the cylindrical orange and white bottle and shake it gently.", + "Grab the medium orange bottle and shake it steadily.", + "Grab and shake the bottle with orange cap using the left arm.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Shake the yellow label bottle after grabbing it.", + "Hold the medium orange bottle and shake it properly.", + "Hold the orange and white bottle with cap steady, then shake it.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Take the drinking bottle with yellow label using the left arm and give it a shake.", + "Hold the orange bottle with the left arm and shake lightly.", + "Pick the medium bottle with orange lid up with the left arm and shake.", + "Pick the medium orange bottle up using the left arm and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the medium orange bottle after grabbing it.", + "Shake the medium bottle with orange lid thoroughly after grabbing it.", + "Pick up the smooth plastic bottle and shake it.", + "Grab the cylindrical orange and white bottle carefully and shake.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Lift the yellow label bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Hold the bottle with ribbed orange bottom, shake it briefly.", + "Use the left arm to grab the drinking bottle with yellow label and shake it.", + "Grab the orange and white bottle with cap and move it to shake.", + "Grasp the plastic bottle with the left arm and shake it.", + "Lift the cylindrical orange and white bottle with the left arm and give it a shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Use the left arm to pick and shake the bottle with orange cap.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Pick the white and orange plastic bottle, shake it with the left arm.", + "Grab the medium bottle with orange lid using the left arm, then shake.", + "Use the left arm to hold the orange bottle and shake it.", + "Utilize the left arm to hold the bottle with ribbed orange bottom and shake it.", + "With the left arm, pick the medium orange bottle and shake properly.", + "Shake the plastic bottle after lifting it.", + "Grab the plastic bottle with the left arm and shake.", + "Lift up the cylindrical orange and white bottle using the left arm, then shake.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Lift the white and orange plastic bottle with the left arm and shake it.", + "Secure the orange bottle and perform a shake.", + "Grip the plastic bottle using the left arm and shake.", + "Grab the drinking bottle with yellow label and give it a shake.", + "Using the left arm, shake the orange and white bottle with cap and then place it back.", + "Secure the bottle with orange cap, shake it, and place it down.", + "Lift the medium bottle with orange lid and shake it thoroughly.", + "Shake the plastic bottle firmly after grabbing.", + "Pick up the medium orange bottle and shake it well.", + "Shake the medium bottle with orange lid using the left arm after grabbing.", + "Lift the medium orange bottle and shake it gently.", + "Grab the plastic bottle and shake it steadily.", + "Grab and shake the bottle with orange cap using the left arm.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Hold and shake the the orange bottle carefully.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Hold the medium orange bottle and shake it properly.", + "Hold the white and orange plastic bottle steady, then shake it.", + "Catch the white and orange plastic bottle and shake it instantly.", + "Take the medium bottle with orange lid using the left arm and give it a shake.", + "Hold the orange bottle with the left arm and shake lightly.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Pick the orange and white bottle with cap up using the left arm and shake it.", + "Pick the white and orange plastic bottle and perform shaking motion.", + "Shake the plastic bottle after grabbing it.", + "Shake the orange and white bottle with cap thoroughly after grabbing it.", + "Pick up the bottle with ribbed orange bottom and shake it.", + "Grab the smooth plastic bottle carefully and shake.", + "Shake the smooth plastic bottle after holding it firmly.", + "Lift the cylindrical orange and white bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Hold the yellow label bottle, shake it briefly.", + "Use the left arm to grab the smooth plastic bottle and shake it.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Grasp the yellow label bottle with the left arm and shake it.", + "Lift the bottle with orange cap with the left arm and give it a shake.", + "Shake the the orange bottle properly after lifting.", + "Use the left arm to pick and shake the medium orange bottle.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick the yellow label bottle, shake it with the left arm.", + "Grab the medium bottle with orange lid using the left arm, then shake.", + "Use the left arm to hold the orange and white bottle with cap and shake it.", + "Utilize the left arm to hold the medium orange bottle and shake it.", + "With the left arm, pick the bottle with ribbed orange bottom and shake properly.", + "Shake the medium bottle with orange lid after lifting it.", + "Grab the cylindrical orange and white bottle with the left arm and shake.", + "Lift up the cylindrical orange and white bottle using the left arm, then shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Lift the medium orange bottle with the left arm and shake it.", + "Secure the medium bottle with orange lid and perform a shake.", + "Grip the white and orange plastic bottle using the left arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Using the left arm, shake the bottle with ribbed orange bottom and then place it back.", + "Secure the bottle with orange cap, shake it, and place it down.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Shake the orange and white bottle with cap firmly after grabbing.", + "Pick up the bottle with ribbed orange bottom and shake it well.", + "Shake the white and orange plastic bottle using the left arm after grabbing." + ], + "unseen": [ + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode308.json b/shake_bottle/ur5_randomized_500/instructions/episode308.json new file mode 100644 index 0000000000000000000000000000000000000000..3b03ac00ec385306d137904c205116270a57d5da --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode308.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the orange and white bottle with cap steady, then shake it.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Grab the plastic bottle and give it a shake.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Lift the cylindrical orange and white bottle with the left arm and shake.", + "Grab the yellow label bottle using the left arm, then shake.", + "Utilize the left arm to hold the bottle with ribbed orange bottom and shake it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Use the left arm to pick and shake the bottle with ribbed orange bottom.", + "Pick the drinking bottle with yellow label up using the left arm and shake it.", + "Pick the white and orange plastic bottle and perform shaking motion.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Pick up the smooth plastic bottle and shake it well.", + "Use the left arm to lift and shake the yellow label bottle.", + "Lift the bottle with orange cap with the left arm and give it a shake.", + "Shake the medium orange bottle after grabbing it.", + "Lift up the yellow label bottle using the left arm, then shake.", + "Shake the orange bottle thoroughly after grabbing it.", + "Pick up the orange bottle and shake it.", + "Lift the cylindrical orange and white bottle and shake it thoroughly.", + "Grab the orange and white bottle with cap firmly, shake it, and put it down.", + "Pick the plastic bottle up with the left arm and shake.", + "Secure the yellow label bottle, shake it, and place it down.", + "Shake the orange bottle using the left arm after grabbing.", + "Grip the cylindrical orange and white bottle using the left arm and shake.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Hold the medium bottle with orange lid and shake it properly.", + "Take the bottle with ribbed orange bottom using the left arm and give it a shake.", + "Pick the orange and white bottle with cap, shake it with the left arm.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Shake the the medium bottle with orange lid properly after lifting.", + "Use the left arm to grab the orange and white bottle with cap and shake it.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Grab and shake the medium bottle with orange lid using the left arm.", + "Secure the medium bottle with orange lid and perform a shake.", + "Shake the medium orange bottle after grabbing it.", + "Lift the cylindrical orange and white bottle with the left arm and shake it.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "Use the left arm to hold the cylindrical orange and white bottle and shake it.", + "Grab the yellow label bottle and move it to shake.", + "Grab the cylindrical orange and white bottle and shake it steadily.", + "Use the left arm to grab the bottle with ribbed orange bottom and shake properly.", + "Shake the yellow label bottle after grabbing it.", + "Lift the drinking bottle with yellow label and shake it gently.", + "Grab the yellow label bottle with the left arm and shake.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Shake the orange bottle after lifting it.", + "Grab the plastic bottle carefully and shake.", + "Hold the yellow label bottle steady, then shake it.", + "Catch the bottle with orange cap and shake it instantly.", + "Grab the bottle with ribbed orange bottom and give it a shake.", + "With the left arm, pick the medium bottle with orange lid and shake properly.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Use the left arm to pick and shake the yellow label bottle.", + "Pick the plastic bottle up using the left arm and shake it.", + "Pick the white and orange plastic bottle and perform shaking motion.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Pick up the bottle with ribbed orange bottom and shake it well.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Lift the orange and white bottle with cap with the left arm and give it a shake.", + "Shake the yellow label bottle after grabbing it.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Shake the medium bottle with orange lid thoroughly after grabbing it.", + "Pick up the orange bottle and shake it.", + "Lift the medium orange bottle and shake it thoroughly.", + "Grab the orange and white bottle with cap firmly, shake it, and put it down.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "Shake the orange and white bottle with cap using the left arm after grabbing.", + "Grip the cylindrical orange and white bottle using the left arm and shake.", + "Using the left arm, shake the drinking bottle with yellow label and then place it back.", + "Hold the cylindrical orange and white bottle and shake it properly.", + "Take the white and orange plastic bottle using the left arm and give it a shake.", + "Pick the orange bottle, shake it with the left arm.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Hold the bottle with orange cap with the left arm and shake lightly.", + "Grasp the bottle with ribbed orange bottom with the left arm and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to grab the bottle with orange cap and shake it.", + "Hold the medium orange bottle, shake it briefly.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Shake the bottle with orange cap after grabbing it.", + "Lift the yellow label bottle with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Use the left arm to hold the bottle with ribbed orange bottom and shake it.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Grab the smooth plastic bottle and shake it steadily.", + "Use the left arm to grab the orange and white bottle with cap and shake properly.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Lift the medium bottle with orange lid and shake it gently.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Shake the bottle with ribbed orange bottom after lifting it.", + "Grab the yellow label bottle carefully and shake." + ], + "unseen": [ + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode309.json b/shake_bottle/ur5_randomized_500/instructions/episode309.json new file mode 100644 index 0000000000000000000000000000000000000000..ef81e00c45e31a0ed5ec9558e78d55f413d41cf8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode309.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the plastic bottle with ghost print carefully.", + "Hold the milk-bottle shape design with the right arm and shake lightly.", + "With the right arm, pick the gray bottle with slight shine and shake properly.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Use the right arm to lift and shake the hand-sized bottle with screw cap.", + "Grab the hand-sized bottle with screw cap and give it a shake.", + "Use the right arm to grab the smooth cylindrical bottle and shake properly.", + "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.", + "Catch the rounded body bottle made of plastic and shake it instantly.", + "Lift the smooth surface bottle with gray shade and shake it gently.", + "Shake the gray bottle with slight shine after grabbing it.", + "Hold the bottle with cute ghost drawing and shake it properly.", + "Lift the light gray colored container bottle with the right arm and shake.", + "Grab the gray bottle with slight shine and move it to shake.", + "Shake the light gray colored container bottle after holding it firmly.", + "Lift up the smooth surface bottle with gray shade using the right arm, then shake.", + "Lift the light gray colored container bottle with the right arm and give it a shake.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Use the right arm to pick and shake the bottle with cute ghost drawing.", + "Grip the gray bottle with slight shine using the right arm and shake.", + "Grab the hand-sized bottle with screw cap carefully and shake.", + "Pick the smooth surface bottle with gray shade up with the right arm and shake.", + "Lift the bottle with cute ghost drawing and shake it thoroughly.", + "Grab the smooth surface bottle with gray shade using the right arm, then shake.", + "Grab the bottle shaped like small cylinder and shake it steadily.", + "Utilize the right arm to hold the medium-sized plastic bottle and shake it.", + "Shake the bottle with cute ghost drawing thoroughly after grabbing it.", + "Grasp the plastic bottle with ghost print with the right arm and shake it.", + "Take the bottle shaped like small cylinder using the right arm and give it a shake.", + "Use the right arm to hold the bottle with cute ghost drawing and shake it.", + "Shake the bottle with cute ghost drawing firmly after grabbing.", + "Shake the the medium cylinder-shaped bottle properly after lifting.", + "Shake the rounded body bottle made of plastic after lifting it.", + "Pick the medium cylinder-shaped bottle and perform shaking motion.", + "Use the right arm to grab the smooth cylindrical bottle and shake it.", + "Secure the milk-bottle shape design, shake it, and place it down.", + "Grab and shake the smooth cylindrical bottle using the right arm.", + "Secure the milk-bottle shape design and perform a shake.", + "Lift the medium cylinder-shaped bottle with the right arm and shake it.", + "Grab the light gray colored container bottle with the right arm and shake.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Pick the milk-bottle shape design up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle shaped like small cylinder.", + "Using the right arm, shake the plastic bottle with ghost print and then place it back.", + "Pick the gray bottle with slight shine, shake it with the right arm.", + "Shake the bottle shaped like small cylinder using the right arm after grabbing.", + "Pick up the light gray colored container bottle and shake it.", + "Pick up the hand-sized bottle with screw cap and shake it well.", + "Use the right arm to lift and shake the gray bottle with slight shine.", + "Hold and shake the the smooth cylindrical bottle carefully.", + "Hold the plastic bottle with ghost print with the right arm and shake lightly.", + "With the right arm, pick the medium cylinder-shaped bottle and shake properly.", + "Hold the light gray colored container bottle steady, then shake it.", + "Use the right arm to lift and shake the plastic bottle with ghost print.", + "Grab the smooth surface bottle with gray shade and give it a shake.", + "Use the right arm to grab the smooth cylindrical bottle and shake properly.", + "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Lift the bottle with cute ghost drawing and shake it gently.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Hold the hand-sized bottle with screw cap and shake it properly.", + "Lift the light gray colored container bottle with the right arm and shake.", + "Grab the medium cylinder-shaped bottle and move it to shake.", + "Shake the plastic bottle with ghost print after holding it firmly.", + "Lift up the medium-sized plastic bottle using the right arm, then shake.", + "Lift the plastic bottle with ghost print with the right arm and give it a shake.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Use the right arm to pick and shake the medium-sized plastic bottle.", + "Grip the hand-sized bottle with screw cap using the right arm and shake.", + "Grab the light gray colored container bottle carefully and shake.", + "Pick the milk-bottle shape design up with the right arm and shake.", + "Lift the rounded body bottle made of plastic and shake it thoroughly.", + "Grab the bottle with cute ghost drawing using the right arm, then shake.", + "Grab the light gray colored container bottle and shake it steadily.", + "Utilize the right arm to hold the smooth cylindrical bottle and shake it.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Grasp the bottle with cute ghost drawing with the right arm and shake it.", + "Take the medium cylinder-shaped bottle using the right arm and give it a shake.", + "Use the right arm to hold the medium-sized plastic bottle and shake it.", + "Shake the milk-bottle shape design firmly after grabbing.", + "Shake the the light gray colored container bottle properly after lifting.", + "Shake the smooth surface bottle with gray shade after lifting it.", + "Pick the gray bottle with slight shine and perform shaking motion.", + "Use the right arm to grab the smooth surface bottle with gray shade and shake it.", + "Secure the bottle shaped like small cylinder, shake it, and place it down.", + "Grab and shake the smooth surface bottle with gray shade using the right arm.", + "Secure the plastic bottle with ghost print and perform a shake.", + "Lift the smooth surface bottle with gray shade with the right arm and shake it.", + "Grab the milk-bottle shape design with the right arm and shake.", + "Shake the gray bottle with slight shine after grabbing it.", + "Hold the bottle shaped like small cylinder, shake it briefly.", + "Pick the bottle with cute ghost drawing up using the right arm and shake it.", + "Use the right arm to lift and shake the medium-sized plastic bottle.", + "Using the right arm, shake the bottle shaped like small cylinder and then place it back.", + "Pick the medium-sized plastic bottle, shake it with the right arm.", + "Shake the smooth surface bottle with gray shade using the right arm after grabbing.", + "Pick up the milk-bottle shape design and shake it.", + "Pick up the medium-sized plastic bottle and shake it well.", + "Use the right arm to lift and shake the light gray colored container bottle." + ], + "unseen": [ + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Use the right arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Use the right arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the light gray bottle with the right arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode31.json b/shake_bottle/ur5_randomized_500/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..914b1d04d45b74ab90508976b14113075d7a150e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth bottle with rounded edges with the left arm and shake it.", + "Hold the smooth bottle with rounded edges with the left arm and shake lightly.", + "Shake the the plastic bottle properly after lifting.", + "Hold and shake the the bottle with white cap carefully.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Use the left arm to hold the yellow container with rounded edges and shake it.", + "Pick the bottle with white cap and perform shaking motion.", + "Grab the smooth bottle with rounded edges and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Hold the bottle with green and white labels and shake it properly.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Shake the yellow bottle after holding it firmly.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Take the smooth bottle with rounded edges using the left arm and give it a shake.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the bottle with white cap, shake it with the left arm.", + "Using the left arm, shake the plastic bottle and then place it back.", + "With the left arm, pick the yellow plastic bottle with white top and shake properly.", + "Lift the yellow bottle with a green design with the left arm and shake.", + "Use the left arm to pick and shake the smooth bottle with rounded edges.", + "Grab the yellow plastic bottle with white top using the left arm, then shake.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Hold the smooth bottle with rounded edges, shake it briefly.", + "Utilize the left arm to hold the yellow plastic bottle with white top and shake it.", + "Pick up the yellow bottle and shake it well.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Shake the yellow container with rounded edges after grabbing it.", + "Use the left arm to grab the yellow bottle with a green design and shake properly.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Lift up the yellow bottle using the left arm, then shake.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Lift the yellow plastic bottle with white top with the left arm and give it a shake.", + "Lift the yellow bottle and shake it gently.", + "Pick the smooth bottle with rounded edges up with the left arm and shake.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Grip the plastic bottle using the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Pick the rectangular bottle with cylindrical neck up using the left arm and shake it.", + "Grab the yellow bottle with the left arm and shake.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Grab and shake the bottle with white cap using the left arm.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Use the left arm to lift and shake the yellow bottle.", + "Shake the yellow bottle after lifting it.", + "Lift the bottle with green and white labels with the left arm and shake it.", + "Hold the bottle with green label with the left arm and shake lightly.", + "Shake the the plastic bottle properly after lifting.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Use the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Grab the plastic bottle and give it a shake.", + "Grab the yellow bottle carefully and shake.", + "Hold the yellow bottle with a green design and shake it properly.", + "Shake the plastic bottle after grabbing it.", + "Pick up the bottle with green and white labels and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Secure the yellow bottle with a green design, shake it, and place it down.", + "Take the bottle with green label using the left arm and give it a shake.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Pick the bottle with a smooth plastic body, shake it with the left arm.", + "Using the left arm, shake the yellow plastic bottle with white top and then place it back.", + "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.", + "Lift the yellow plastic bottle with white top with the left arm and shake.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Grab the medium rectangular yellow bottle using the left arm, then shake.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Pick up the medium rectangular yellow bottle and shake it well.", + "Grab the yellow bottle and shake it steadily.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Use the left arm to grab the bottle with a smooth plastic body and shake properly.", + "Use the left arm to lift and shake the yellow bottle.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Shake the yellow container with rounded edges thoroughly after grabbing it.", + "Lift the rectangular bottle with cylindrical neck with the left arm and give it a shake.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Catch the bottle with green label and shake it instantly.", + "Grip the bottle with green and white labels using the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Pick the bottle with green label up using the left arm and shake it.", + "Grab the smooth bottle with rounded edges with the left arm and shake.", + "Grasp the bottle with a smooth plastic body with the left arm and shake it.", + "Grab and shake the yellow container with rounded edges using the left arm.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Use the left arm to grab the bottle with green and white labels and shake it.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Shake the smooth bottle with rounded edges after lifting it." + ], + "unseen": [ + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode310.json b/shake_bottle/ur5_randomized_500/instructions/episode310.json new file mode 100644 index 0000000000000000000000000000000000000000..fb690575006fab7ec71b72ae3e357f4ed63fab39 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode310.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the plastic bottle and shake properly.", + "Use the right arm to pick and shake the bottle for liquids.", + "Hold the bottle with yellow cap steady, then shake it.", + "Pick the bottle with yellow cap up using the right arm and shake it.", + "Catch the bottle for liquids and shake it instantly.", + "Grab the medium-sized orange bottle and move it to shake.", + "Shake the the plastic bottle properly after lifting.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Utilize the right arm to hold the bottle with yellow cap and shake it.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Grasp the orange bottle with the right arm and shake it.", + "Lift the yellow-capped plastic bottle and shake it thoroughly.", + "Shake the medium-sized orange bottle after grabbing it.", + "Grab the orange cylindrical bottle using the right arm, then shake.", + "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Pick up the smooth plastic bottle and shake it well.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Pick the medium-sized orange bottle, shake it with the right arm.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the cylindrical orange bottle with yellow top and shake it.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Secure the yellow-capped plastic bottle and perform a shake.", + "Shake the plastic bottle after holding it firmly.", + "Lift the medium-sized orange bottle with the right arm and shake it.", + "Pick the cylindrical orange bottle with yellow top up with the right arm and shake.", + "Lift the yellow-capped plastic bottle with the right arm and give it a shake.", + "Lift the medium-sized orange bottle and shake it gently.", + "Grab the smooth plastic bottle and shake it steadily.", + "Using the right arm, shake the medium-sized orange bottle and then place it back.", + "Lift the bottle with yellow cap with the right arm and shake.", + "Hold the yellow-capped plastic bottle with the right arm and shake lightly.", + "Hold the bottle with printed label and shake it properly.", + "Use the right arm to lift and shake the bottle for liquids.", + "Take the orange bottle using the right arm and give it a shake.", + "Grab and shake the orange bottle using the right arm.", + "Use the right arm to hold the bottle with narrow neck and shake it.", + "Shake the bottle for liquids firmly after grabbing.", + "Hold and shake the the bottle for liquids carefully.", + "Grab the orange cylindrical bottle and give it a shake.", + "Shake the yellow-capped plastic bottle using the right arm after grabbing.", + "Shake the plastic bottle with sealed yellow cap after lifting it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Use the right arm to grab the yellow-capped plastic bottle and shake properly.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Grab the bottle with narrow neck with the right arm and shake.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Use the right arm to pick and shake the plastic bottle.", + "Hold the bottle for liquids steady, then shake it.", + "Pick the bottle for liquids up using the right arm and shake it.", + "Catch the bottle with narrow neck and shake it instantly.", + "Grab the bottle with yellow cap and move it to shake.", + "Shake the the bottle with yellow cap properly after lifting.", + "Use the right arm to grab the orange bottle and shake it.", + "Pick the medium-sized orange bottle and perform shaking motion.", + "Utilize the right arm to hold the bottle for liquids and shake it.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Grasp the bottle with printed label with the right arm and shake it.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Shake the orange cylindrical bottle after grabbing it.", + "Grab the medium-sized orange bottle using the right arm, then shake.", + "Secure the bottle with printed label, shake it, and place it down.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Grab the plastic bottle carefully and shake.", + "Pick up the plastic bottle and shake it well.", + "Shake the orange cylindrical bottle after grabbing it.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Pick the cylindrical orange bottle with yellow top, shake it with the right arm.", + "Hold the smooth plastic bottle, shake it briefly.", + "Pick up the smooth plastic bottle and shake it.", + "Grip the bottle with narrow neck using the right arm and shake.", + "Secure the bottle with yellow cap and perform a shake.", + "Shake the bottle with yellow cap after holding it firmly.", + "Lift the bottle for liquids with the right arm and shake it.", + "Pick the medium-sized orange bottle up with the right arm and shake.", + "Lift the bottle with narrow neck with the right arm and give it a shake.", + "Lift the plastic bottle with sealed yellow cap and shake it gently.", + "Grab the plastic bottle and shake it steadily.", + "Using the right arm, shake the smooth plastic bottle and then place it back.", + "Lift the bottle with printed label with the right arm and shake.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Hold the medium-sized orange bottle and shake it properly.", + "Use the right arm to lift and shake the bottle with printed label.", + "Take the bottle with narrow neck using the right arm and give it a shake.", + "Grab and shake the orange cylindrical bottle using the right arm.", + "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Shake the medium-sized orange bottle firmly after grabbing.", + "Hold and shake the the plastic bottle with sealed yellow cap carefully.", + "Grab the orange bottle and give it a shake.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Shake the smooth plastic bottle after lifting it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Grab the orange bottle with the right arm and shake." + ], + "unseen": [ + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode311.json b/shake_bottle/ur5_randomized_500/instructions/episode311.json new file mode 100644 index 0000000000000000000000000000000000000000..3c347b876b0d1acb826d9099f094386a69510014 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode311.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the green bottle with black text label.", + "Shake the cylindrical liquid bottle with yellow top after lifting it.", + "With the right arm, pick the smooth green and yellow bottle and shake properly.", + "Lift the handheld plastic bottle with the right arm and shake.", + "Use the right arm to grab the handheld plastic bottle and shake properly.", + "Shake the bottle with glossy plastic finish after grabbing it.", + "Lift the cylindrical bottle with rounded cap and shake it gently.", + "Pick the medium bottle with green body, shake it with the right arm.", + "Shake the handheld plastic bottle thoroughly after grabbing it.", + "Pick up the green bottle with white label and shake it well.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Using the right arm, shake the plastic bottle with colored label and then place it back.", + "Hold the medium bottle with green body, shake it briefly.", + "Hold the green bottle with the right arm and shake lightly.", + "Pick the smooth green and yellow bottle up with the right arm and shake.", + "Shake the plastic bottle with colored label after grabbing it.", + "Shake the green bottle with black text label after holding it firmly.", + "Grab the green bottle with white label and give it a shake.", + "Lift the green bottle with white label with the right arm and give it a shake.", + "Secure the cylindrical liquid bottle with yellow top and perform a shake.", + "Utilize the right arm to hold the bottle with glossy plastic finish and shake it.", + "Grab the plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the medium bottle with green body.", + "Grab the green bottle with black text label and move it to shake.", + "Use the right arm to hold the green bottle and shake it.", + "Pick the plastic bottle with colored label and perform shaking motion.", + "Lift the handheld plastic bottle with the right arm and shake it.", + "Grab the bottle with yellow cap and shake it steadily.", + "Hold the green bottle with white label steady, then shake it.", + "Hold and shake the the bottle with yellow cap carefully.", + "Pick up the smooth green and yellow bottle and shake it.", + "Grab the medium bottle with green body with the right arm and shake.", + "Catch the cylindrical liquid bottle with yellow top and shake it instantly.", + "Shake the bottle with glossy plastic finish firmly after grabbing.", + "Grip the plastic bottle with colored label using the right arm and shake.", + "Grab the green bottle carefully and shake.", + "Lift the cylindrical bottle with rounded cap and shake it thoroughly.", + "Grab and shake the plastic bottle with colored label using the right arm.", + "Shake the medium bottle with green body using the right arm after grabbing.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Use the right arm to grab the green bottle and shake it.", + "Shake the the green bottle properly after lifting.", + "Use the right arm to pick and shake the bottle with glossy plastic finish.", + "Use the right arm to lift and shake the cylindrical bottle with rounded cap.", + "Take the bottle with yellow cap using the right arm and give it a shake.", + "Secure the plastic bottle with colored label, shake it, and place it down.", + "Pick the green bottle with black text label up using the right arm and shake it.", + "Grasp the cylindrical bottle with rounded cap with the right arm and shake it.", + "Lift up the green bottle with black text label using the right arm, then shake.", + "Hold the handheld plastic bottle and shake it properly.", + "Use the right arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Shake the medium bottle with green body after lifting it.", + "With the right arm, pick the green bottle with black text label and shake properly.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to grab the medium bottle with green body and shake properly.", + "Shake the medium bottle with green body after grabbing it.", + "Lift the cylindrical bottle with rounded cap and shake it gently.", + "Pick the handheld plastic bottle, shake it with the right arm.", + "Shake the green bottle with black text label thoroughly after grabbing it.", + "Pick up the plastic bottle and shake it well.", + "Shake the plastic bottle after grabbing it.", + "Using the right arm, shake the green bottle with black text label and then place it back.", + "Hold the plastic bottle, shake it briefly.", + "Hold the smooth green and yellow bottle with the right arm and shake lightly.", + "Pick the bottle with yellow cap up with the right arm and shake.", + "Shake the green bottle after grabbing it.", + "Shake the bottle with glossy plastic finish after holding it firmly.", + "Grab the green bottle and give it a shake.", + "Lift the cylindrical bottle with rounded cap with the right arm and give it a shake.", + "Secure the green bottle with white label and perform a shake.", + "Utilize the right arm to hold the green bottle with black text label and shake it.", + "Grab the cylindrical bottle with rounded cap using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle with colored label.", + "Grab the handheld plastic bottle and move it to shake.", + "Use the right arm to hold the bottle with glossy plastic finish and shake it.", + "Pick the green bottle and perform shaking motion.", + "Lift the medium bottle with green body with the right arm and shake it.", + "Grab the green bottle with black text label and shake it steadily.", + "Hold the green bottle steady, then shake it.", + "Hold and shake the the cylindrical liquid bottle with yellow top carefully.", + "Pick up the handheld plastic bottle and shake it.", + "Grab the medium bottle with green body with the right arm and shake.", + "Catch the plastic bottle with colored label and shake it instantly.", + "Shake the green bottle with black text label firmly after grabbing.", + "Grip the green bottle with black text label using the right arm and shake.", + "Grab the bottle with yellow cap carefully and shake.", + "Lift the bottle with glossy plastic finish and shake it thoroughly.", + "Grab and shake the smooth green and yellow bottle using the right arm.", + "Shake the green bottle with black text label using the right arm after grabbing.", + "Grab the medium bottle with green body firmly, shake it, and put it down.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Shake the the handheld plastic bottle properly after lifting.", + "Use the right arm to pick and shake the plastic bottle with colored label.", + "Use the right arm to lift and shake the green bottle.", + "Take the smooth green and yellow bottle using the right arm and give it a shake.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Pick the bottle with glossy plastic finish up using the right arm and shake it.", + "Grasp the plastic bottle with colored label with the right arm and shake it.", + "Lift up the green bottle with black text label using the right arm, then shake.", + "Hold the cylindrical liquid bottle with yellow top and shake it properly." + ], + "unseen": [ + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with green base and black prints.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with green base and black prints.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Use the right arm to pick the bottle with green base and black prints.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Use the right arm to pick the bottle with green base and black prints.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Grab the medium-sized drink bottle and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Use the right arm to pick the medium-sized drink bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode312.json b/shake_bottle/ur5_randomized_500/instructions/episode312.json new file mode 100644 index 0000000000000000000000000000000000000000..a1755d9a8ace73b6734aa0c014666fc817bd47aa --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode312.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Lift the red-capped bottle and shake it gently.", + "Pick up the narrow-necked bottle and shake it well.", + "Hold the long thin bottle, shake it briefly.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold the bottle with white neck and red top and shake it properly.", + "Lift the brown bottle with red label with the right arm and shake.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the Coca-Cola bottle and move it to shake.", + "Shake the brown bottle with red label after lifting it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Lift the long thin bottle with the right arm and shake it.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Grab the smooth bottle with red lid carefully and shake.", + "Pick up the brown bottle with red label and shake it.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Lift up the narrow-necked bottle using the right arm, then shake.", + "Pick the plastic drink bottle up with the right arm and shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Grab the plastic drink bottle with the right arm and shake.", + "Grab the long thin bottle and shake it steadily.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Shake the narrow-necked bottle after holding it firmly.", + "Shake the brown bottle with red label firmly after grabbing.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Use the right arm to hold the long thin bottle and shake it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Secure the bottle with white neck and red top and perform a shake.", + "Hold the long thin bottle steady, then shake it.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Lift the hand-sized soda bottle and shake it gently.", + "Pick up the smooth bottle with red lid and shake it well.", + "Hold the red-capped bottle, shake it briefly.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Grab the Coca-Cola bottle and give it a shake.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Shake the medium dark brown bottle after grabbing it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grip the long thin bottle using the right arm and shake.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Use the right arm to grab the long thin bottle and shake it.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold the smooth bottle with red lid and shake it properly.", + "Lift the long thin bottle with the right arm and shake.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab the bottle with white neck and red top and move it to shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Using the right arm, shake the brown bottle with red label and then place it back.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick up the narrow-necked bottle and shake it.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Grab the narrow-necked bottle and shake it steadily.", + "Shake the medium dark brown bottle after grabbing it.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Shake the red-capped bottle after holding it firmly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "With the right arm, pick the long thin bottle and shake properly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Secure the medium dark brown bottle and perform a shake.", + "Hold the bottle with white neck and red top steady, then shake it." + ], + "unseen": [ + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode313.json b/shake_bottle/ur5_randomized_500/instructions/episode313.json new file mode 100644 index 0000000000000000000000000000000000000000..c747f49ec9792fb9e654e590936ecbb4b0cb5d96 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode313.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.", + "Shake the bottle with narrow neck after grabbing it.", + "Catch the orange bottle and shake it instantly.", + "Use the right arm to grab the bottle for liquids and shake it.", + "Hold and shake the the bottle for liquids carefully.", + "Hold the medium-sized orange bottle, shake it briefly.", + "Grab the bottle with narrow neck carefully and shake.", + "Lift the medium-sized orange bottle with the right arm and give it a shake.", + "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.", + "Grab the plastic bottle with sealed yellow cap using the right arm, then shake.", + "Pick the plastic bottle and perform shaking motion.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Utilize the right arm to hold the bottle with narrow neck and shake it.", + "Pick the medium-sized orange bottle up with the right arm and shake.", + "Grab the bottle with narrow neck firmly, shake it, and put it down.", + "Secure the bottle with printed label and perform a shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Grab the bottle with printed label and shake it steadily.", + "Shake the bottle for liquids after grabbing it.", + "Grab and shake the medium-sized orange bottle using the right arm.", + "Shake the orange bottle after holding it firmly.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Grasp the yellow-capped plastic bottle with the right arm and shake it.", + "Shake the the yellow-capped plastic bottle properly after lifting.", + "Hold the plastic bottle with sealed yellow cap steady, then shake it.", + "Shake the smooth plastic bottle after lifting it.", + "Grab the orange cylindrical bottle and give it a shake.", + "Lift the plastic bottle with the right arm and shake.", + "Grip the bottle with narrow neck using the right arm and shake.", + "Pick the bottle with printed label, shake it with the right arm.", + "Using the right arm, shake the bottle with yellow cap and then place it back.", + "Lift the bottle for liquids with the right arm and shake it.", + "Hold the bottle with printed label and shake it properly.", + "Pick up the plastic bottle with sealed yellow cap and shake it well.", + "Lift up the orange bottle using the right arm, then shake.", + "Grab the medium-sized orange bottle and move it to shake.", + "Lift the medium-sized orange bottle and shake it gently.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Shake the orange cylindrical bottle after grabbing it.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Use the right arm to lift and shake the bottle with printed label.", + "Take the yellow-capped plastic bottle using the right arm and give it a shake.", + "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Pick the bottle for liquids up using the right arm and shake it.", + "Use the right arm to pick and shake the yellow-capped plastic bottle.", + "Hold the bottle with printed label with the right arm and shake lightly.", + "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.", + "Shake the smooth plastic bottle after grabbing it.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Use the right arm to grab the orange bottle and shake it.", + "Hold and shake the the orange cylindrical bottle carefully.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Lift the bottle with narrow neck with the right arm and give it a shake.", + "Lift the orange bottle and shake it thoroughly.", + "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Pick the cylindrical orange bottle with yellow top and perform shaking motion.", + "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Pick the bottle with narrow neck up with the right arm and shake.", + "Grab the medium-sized orange bottle firmly, shake it, and put it down.", + "Secure the bottle with narrow neck and perform a shake.", + "Secure the orange bottle, shake it, and place it down.", + "Grab the orange cylindrical bottle with the right arm and shake.", + "Grab the orange cylindrical bottle and shake it steadily.", + "Shake the bottle with narrow neck after grabbing it.", + "Grab and shake the bottle for liquids using the right arm.", + "Shake the bottle with yellow cap after holding it firmly.", + "Use the right arm to lift and shake the plastic bottle.", + "Grasp the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Shake the the smooth plastic bottle properly after lifting.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Shake the smooth plastic bottle after lifting it.", + "Grab the bottle with narrow neck and give it a shake.", + "Lift the cylindrical orange bottle with yellow top with the right arm and shake.", + "Grip the plastic bottle with sealed yellow cap using the right arm and shake.", + "Pick the plastic bottle, shake it with the right arm.", + "Using the right arm, shake the medium-sized orange bottle and then place it back.", + "Lift the cylindrical orange bottle with yellow top with the right arm and shake it.", + "Hold the orange bottle and shake it properly.", + "Pick up the smooth plastic bottle and shake it well.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Grab the plastic bottle and move it to shake.", + "Lift the plastic bottle with sealed yellow cap and shake it gently.", + "Use the right arm to grab the orange bottle and shake properly.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "With the right arm, pick the orange bottle and shake properly.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Use the right arm to lift and shake the bottle with printed label.", + "Take the bottle for liquids using the right arm and give it a shake.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Pick up the orange bottle and shake it.", + "Shake the orange cylindrical bottle firmly after grabbing.", + "Pick the bottle with narrow neck up using the right arm and shake it.", + "Use the right arm to pick and shake the medium-sized orange bottle.", + "Hold the plastic bottle with sealed yellow cap with the right arm and shake lightly." + ], + "unseen": [ + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode314.json b/shake_bottle/ur5_randomized_500/instructions/episode314.json new file mode 100644 index 0000000000000000000000000000000000000000..998abe9c9096dbc14ff6abf7bbec9a4fda5b4711 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode314.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic drink bottle and shake it gently.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the red-capped bottle after lifting it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Pick up the red-capped bottle and shake it well.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Shake the the red-capped bottle properly after lifting.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Hold the medium dark brown bottle, shake it briefly.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Grab the brown bottle with red label and shake it steadily.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Lift the brown bottle with red label with the left arm and shake.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Catch the red-capped bottle and shake it instantly.", + "Hold the bottle with white neck and red top and shake it properly.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Secure the Coca-Cola bottle and perform a shake.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Grab the medium dark brown bottle and move it to shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Lift up the long thin bottle using the left arm, then shake.", + "Shake the long thin bottle after grabbing it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the long thin bottle using the left arm, then shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the plastic drink bottle with the left arm and shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Shake the narrow-necked bottle after lifting it.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Pick up the smooth bottle with red lid and shake it well.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Grab the long thin bottle and shake it steadily.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Catch the plastic drink bottle and shake it instantly.", + "Hold the brown bottle with red label and shake it properly.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Secure the red-capped bottle and perform a shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Shake the long thin bottle using the left arm after grabbing.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Grab the medium dark brown bottle and give it a shake.", + "Grab the plastic drink bottle carefully and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the medium dark brown bottle using the left arm, then shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode315.json b/shake_bottle/ur5_randomized_500/instructions/episode315.json new file mode 100644 index 0000000000000000000000000000000000000000..bacc3de4171c7a08ae71ef369f59900ab5bcfca0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode315.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth plastic bottle and perform shaking motion.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the medium plastic bottle with cap using the left arm, then shake.", + "Pick the yellow bottle for liquid storage up with the left arm and shake.", + "Hold the bottle with screw cap, shake it briefly.", + "Pick the bottle with screw cap, shake it with the left arm.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Lift the medium plastic bottle with cap with the left arm and shake.", + "Pick up the plastic bottle and shake it well.", + "Hold the smooth plastic bottle and shake it properly.", + "Grab the plastic bottle carefully and shake.", + "Hold the smooth plastic bottle steady, then shake it.", + "Secure the medium plastic bottle with cap, shake it, and place it down.", + "Catch the medium-sized bottle and shake it instantly.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Lift the medium-sized bottle and shake it gently.", + "Use the left arm to hold the bottle with screw cap and shake it.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the yellow bottle with blue label and shake it steadily.", + "Pick up the medium plastic bottle with cap and shake it.", + "Use the left arm to grab the bottle with screw cap and shake it.", + "Hold and shake the the yellow bottle for liquid storage carefully.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Use the left arm to grab the handheld curvy bottle and shake properly.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Shake the yellow bottle with blue label after grabbing it.", + "Hold the yellow bottle with dark label with the left arm and shake lightly.", + "Shake the bottle with screw cap after grabbing it.", + "Lift the yellow bottle for liquid storage with the left arm and give it a shake.", + "Grip the plastic bottle with curved sides using the left arm and shake.", + "Grab the yellow bottle for liquid storage and move it to shake.", + "Lift up the yellow bottle with blue label using the left arm, then shake.", + "Take the yellow bottle with blue label using the left arm and give it a shake.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Shake the yellow bottle after holding it firmly.", + "Shake the bottle for liquid thoroughly after grabbing it.", + "With the left arm, pick the yellow bottle with blue label and shake properly.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Using the left arm, shake the plastic bottle with curved sides and then place it back.", + "Grab the yellow bottle with blue label firmly, shake it, and put it down.", + "Grab the yellow bottle with blue label and give it a shake.", + "Shake the bottle with screw cap after lifting it.", + "Secure the bottle with screw cap and perform a shake.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Grab and shake the bottle with screw cap using the left arm.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Shake the the bottle for liquid properly after lifting.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Grab the yellow bottle for liquid storage using the left arm, then shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Hold the yellow bottle for liquid storage, shake it briefly.", + "Pick the yellow bottle with blue label, shake it with the left arm.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Pick up the bottle with screw cap and shake it well.", + "Hold the plastic bottle with curved sides and shake it properly.", + "Grab the medium-sized bottle carefully and shake.", + "Hold the yellow bottle with blue label steady, then shake it.", + "Secure the yellow bottle with blue label, shake it, and place it down.", + "Catch the yellow bottle with dark label and shake it instantly.", + "Grab the medium plastic bottle with cap with the left arm and shake.", + "Lift the smooth plastic bottle and shake it gently.", + "Use the left arm to hold the plastic bottle with curved sides and shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the medium plastic bottle with cap firmly after grabbing.", + "Pick the yellow bottle up using the left arm and shake it.", + "Grab the yellow bottle with dark label and shake it steadily.", + "Pick up the yellow bottle with blue label and shake it.", + "Use the left arm to grab the yellow bottle with blue label and shake it.", + "Hold and shake the the yellow bottle with blue label carefully.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Use the left arm to lift and shake the plastic bottle with curved sides.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Hold the yellow bottle for liquid storage with the left arm and shake lightly.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Lift the handheld curvy bottle with the left arm and give it a shake.", + "Grip the plastic bottle with curved sides using the left arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Lift up the plastic bottle with curved sides using the left arm, then shake.", + "Take the plastic bottle with curved sides using the left arm and give it a shake.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the handheld curvy bottle.", + "Shake the bottle for liquid after holding it firmly.", + "Shake the yellow bottle for liquid storage thoroughly after grabbing it.", + "With the left arm, pick the yellow bottle with blue label and shake properly.", + "Lift the handheld curvy bottle with the left arm and shake it.", + "Using the left arm, shake the handheld curvy bottle and then place it back.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Grab the yellow bottle with blue label and give it a shake.", + "Shake the bottle for liquid after lifting it.", + "Secure the medium plastic bottle with cap and perform a shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Grab and shake the medium plastic bottle with cap using the left arm.", + "Grasp the bottle for liquid with the left arm and shake it.", + "Shake the the plastic bottle properly after lifting." + ], + "unseen": [ + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to pick the smooth bottle with blue text." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode316.json b/shake_bottle/ur5_randomized_500/instructions/episode316.json new file mode 100644 index 0000000000000000000000000000000000000000..eadcd3605f68e73261eb74ad3272bbdd7fe9ab1b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode316.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the white bottle with blue accents with the right arm and shake lightly.", + "Grab the blue bottle with label using the right arm, then shake.", + "Grab the plastic bottle and give it a shake.", + "Shake the handheld bottle using the right arm after grabbing.", + "Grab the white bottle with blue accents and move it to shake.", + "Use the right arm to grab the white bottle with blue accents and shake properly.", + "Hold the blue bottle steady, then shake it.", + "Grab the blue bottle and shake it steadily.", + "Take the bottle with blue cap using the right arm and give it a shake.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the white bottle with blue accents.", + "Lift the blue bottle with label with the right arm and shake it.", + "Shake the bottle for liquids after holding it firmly.", + "Use the right arm to pick and shake the bottle with blue cap.", + "Secure the smooth plastic bottle and perform a shake.", + "Pick the blue bottle up using the right arm and shake it.", + "Shake the the bottle with blue cap properly after lifting.", + "Pick up the medium bottle for beverages and shake it well.", + "Shake the white bottle with blue accents after grabbing it.", + "Hold the handheld bottle and shake it properly.", + "Pick the blue bottle with label, shake it with the right arm.", + "Catch the handheld bottle and shake it instantly.", + "Shake the blue bottle after lifting it.", + "Using the right arm, shake the handheld bottle and then place it back.", + "Shake the blue bottle with label after grabbing it.", + "Utilize the right arm to hold the medium bottle for beverages and shake it.", + "Shake the cylindrical bottle after grabbing it.", + "Pick the medium bottle for beverages up with the right arm and shake.", + "Shake the bottle with blue cap thoroughly after grabbing it.", + "Grab the blue bottle carefully and shake.", + "Lift the handheld bottle and shake it gently.", + "Grab the handheld bottle with the right arm and shake.", + "Pick up the smooth plastic bottle and shake it.", + "Grab and shake the cylindrical bottle using the right arm.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Grasp the medium bottle for beverages with the right arm and shake it.", + "Hold and shake the the medium-sized bottle carefully.", + "Lift the bottle with blue cap and shake it thoroughly.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Pick the handheld bottle and perform shaking motion.", + "Hold the blue bottle with label, shake it briefly.", + "Lift up the bottle with blue cap using the right arm, then shake.", + "Use the right arm to lift and shake the medium-sized bottle.", + "With the right arm, pick the medium bottle for beverages and shake properly.", + "Grip the blue bottle with label using the right arm and shake.", + "Lift the bottle with blue cap with the right arm and shake.", + "Lift the medium-sized bottle with the right arm and give it a shake.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Grab the plastic bottle using the right arm, then shake.", + "Grab the plastic bottle and give it a shake.", + "Shake the medium-sized bottle using the right arm after grabbing.", + "Grab the bottle for liquids and move it to shake.", + "Use the right arm to grab the handheld bottle and shake properly.", + "Hold the blue bottle with label steady, then shake it.", + "Grab the bottle for liquids and shake it steadily.", + "Take the white bottle with blue accents using the right arm and give it a shake.", + "Use the right arm to hold the blue bottle with label and shake it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Use the right arm to lift and shake the blue bottle.", + "Lift the bottle with blue cap with the right arm and shake it.", + "Shake the medium bottle for beverages after holding it firmly.", + "Use the right arm to pick and shake the white bottle with blue accents.", + "Secure the blue bottle and perform a shake.", + "Pick the bottle with blue cap up using the right arm and shake it.", + "Shake the the blue bottle with label properly after lifting.", + "Pick up the medium-sized bottle and shake it well.", + "Shake the white and blue bottle after grabbing it.", + "Hold the blue bottle with label and shake it properly.", + "Pick the plastic bottle, shake it with the right arm.", + "Catch the white bottle with blue accents and shake it instantly.", + "Shake the cylindrical bottle after lifting it.", + "Using the right arm, shake the white bottle with blue accents and then place it back.", + "Shake the handheld bottle after grabbing it.", + "Utilize the right arm to hold the handheld bottle and shake it.", + "Shake the handheld bottle after grabbing it.", + "Pick the handheld bottle up with the right arm and shake.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Grab the plastic bottle carefully and shake.", + "Lift the blue bottle and shake it gently.", + "Grab the plastic bottle with the right arm and shake.", + "Pick up the handheld bottle and shake it.", + "Grab and shake the cylindrical bottle using the right arm.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Hold and shake the the bottle with blue cap carefully.", + "Lift the handheld bottle and shake it thoroughly.", + "Use the right arm to grab the blue bottle with label and shake it.", + "Secure the bottle for liquids, shake it, and place it down.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Hold the blue bottle, shake it briefly.", + "Lift up the cylindrical bottle using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle.", + "With the right arm, pick the cylindrical bottle and shake properly.", + "Grip the blue bottle using the right arm and shake.", + "Lift the plastic bottle with the right arm and shake.", + "Lift the bottle for liquids with the right arm and give it a shake." + ], + "unseen": [ + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged neck.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved neck design.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved neck design.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the blue-capped plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode317.json b/shake_bottle/ur5_randomized_500/instructions/episode317.json new file mode 100644 index 0000000000000000000000000000000000000000..8529484c5670d82bca8821eca7be961220448c1b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode317.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rounded bottle with printed details using the right arm, then shake.", + "Pick up the cylindrical bottle with narrow neck and shake it.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Hold and shake the the plastic bottle with printed label carefully.", + "Grab the plastic bottle with printed label carefully and shake.", + "Hold the cylindrical bottle with narrow neck and shake it properly.", + "Take the bottle with white cap using the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Pick the plastic bottle with printed label up with the right arm and shake.", + "Use the right arm to pick and shake the cylindrical bottle with narrow neck.", + "Shake the smooth brown bottle after grabbing it.", + "Hold the handheld brown bottle with white lid with the right arm and shake lightly.", + "Secure the bottle with white cap, shake it, and place it down.", + "Grip the medium plastic bottle using the right arm and shake.", + "Utilize the right arm to hold the medium plastic bottle and shake it.", + "Pick the medium bottle with smooth texture, shake it with the right arm.", + "Shake the bottle with white cap after holding it firmly.", + "Lift up the plastic bottle for liquids using the right arm, then shake.", + "Lift the plastic bottle for liquids with the right arm and shake.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Grab the bottle with white cap and shake it steadily.", + "With the right arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Pick up the bottle with brown body and white top and shake it well.", + "Grasp the plastic bottle with printed label with the right arm and shake it.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Pick the handheld brown bottle with white lid up using the right arm and shake it.", + "Shake the bottle with dark brown color using the right arm after grabbing.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "Grab and shake the bottle with white cap using the right arm.", + "Shake the medium bottle with smooth texture after lifting it.", + "Grab the bottle with white cap and move it to shake.", + "Lift the handheld brown bottle with white lid with the right arm and shake it.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Shake the smooth brown bottle after grabbing it.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Pick the bottle with white cap and perform shaking motion.", + "Grab the plastic bottle for liquids and give it a shake.", + "Grab the medium bottle with smooth texture with the right arm and shake.", + "Shake the plastic bottle for liquids after grabbing it.", + "Use the right arm to grab the handheld brown bottle with white lid and shake it.", + "Lift the smooth brown bottle with the right arm and give it a shake.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Secure the handheld brown bottle with white lid and perform a shake.", + "Lift the medium plastic bottle and shake it thoroughly.", + "Use the right arm to hold the medium plastic bottle and shake it.", + "Grab the bottle with brown body and white top using the right arm, then shake.", + "Pick up the cylindrical bottle with narrow neck and shake it.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Shake the the bottle with brown body and white top properly after lifting.", + "Hold and shake the the bottle with white cap carefully.", + "Grab the medium bottle with smooth texture carefully and shake.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "Take the medium bottle with smooth texture using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Pick the medium bottle with smooth texture up with the right arm and shake.", + "Use the right arm to pick and shake the handheld brown bottle with white lid.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Hold the medium plastic bottle with the right arm and shake lightly.", + "Secure the rounded bottle with printed details, shake it, and place it down.", + "Grip the bottle with white cap using the right arm and shake.", + "Utilize the right arm to hold the plastic bottle for liquids and shake it.", + "Pick the bottle with white cap, shake it with the right arm.", + "Shake the plastic bottle for liquids after holding it firmly.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Using the right arm, shake the white-capped brown cylindrical bottle and then place it back.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "With the right arm, pick the smooth brown bottle and shake properly.", + "Pick up the bottle with dark brown color and shake it well.", + "Grasp the rounded bottle with printed details with the right arm and shake it.", + "Lift the plastic bottle for liquids and shake it gently.", + "Shake the bottle with white cap firmly after grabbing.", + "Pick the smooth brown bottle up using the right arm and shake it.", + "Shake the plastic bottle for liquids using the right arm after grabbing.", + "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.", + "Grab and shake the bottle with white cap using the right arm.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Grab the medium plastic bottle and move it to shake.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake it.", + "Hold the medium plastic bottle, shake it briefly.", + "Shake the plastic bottle for liquids after grabbing it.", + "Use the right arm to grab the medium bottle with smooth texture and shake properly.", + "Pick the bottle with dark brown color and perform shaking motion.", + "Grab the medium plastic bottle and give it a shake.", + "Grab the bottle with white cap with the right arm and shake.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Use the right arm to grab the bottle with brown body and white top and shake it.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Catch the bottle with dark brown color and shake it instantly.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Secure the handheld brown bottle with white lid and perform a shake.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Use the right arm to hold the white-capped brown cylindrical bottle and shake it." + ], + "unseen": [ + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the brown bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode318.json b/shake_bottle/ur5_randomized_500/instructions/episode318.json new file mode 100644 index 0000000000000000000000000000000000000000..b383e14ed4d39842c64bdcfd4b70a76a31e5384e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode318.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the black cylindrical bottle with ridges and shake it instantly.", + "Use the left arm to lift and shake the black bottle.", + "Hold the black plastic bottle with Pepsi logo with the left arm and shake lightly.", + "Grab the black bottle firmly, shake it, and put it down.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Shake the black bottle using the left arm after grabbing.", + "Utilize the left arm to hold the black cylindrical bottle with ridges and shake it.", + "With the left arm, pick the medium bottle with yellow cap and shake properly.", + "Grab the medium bottle with yellow cap and give it a shake.", + "Pick the drink bottle with rounded yellow lid up using the left arm and shake it.", + "Pick the black cylindrical bottle with ridges and perform shaking motion.", + "Pick up the yellow capped drink bottle and shake it.", + "Use the left arm to pick and shake the smooth black bottle with ridges.", + "Grab the yellow-capped cylindrical bottle carefully and shake.", + "Hold the smooth black bottle with ridges steady, then shake it.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Grab the yellow capped drink bottle with the left arm and shake.", + "Shake the medium black bottle with printed label firmly after grabbing.", + "Hold the black plastic bottle with Pepsi logo and shake it properly.", + "Lift the beverage bottle with black body and shake it gently.", + "Use the left arm to grab the black cylindrical bottle with ridges and shake it.", + "Use the left arm to grab the black bottle and shake properly.", + "Grab the medium black bottle with printed label using the left arm, then shake.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Hold and shake the the medium bottle with yellow cap carefully.", + "Grip the plastic bottle with colorful label using the left arm and shake.", + "Grab and shake the beverage bottle with black body using the left arm.", + "Lift the smooth black bottle with ridges and shake it thoroughly.", + "Use the left arm to lift and shake the beverage bottle with black body.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Lift the smooth black bottle with ridges with the left arm and shake it.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake.", + "Lift the black bottle with the left arm and give it a shake.", + "Grab the black bottle and move it to shake.", + "Grasp the black cylindrical bottle with ridges with the left arm and shake it.", + "Grab the bottle with blue and yellow print and shake it steadily.", + "Secure the medium black bottle with printed label and perform a shake.", + "Lift up the bottle with blue and yellow print using the left arm, then shake.", + "Shake the bottle with blue and yellow print after holding it firmly.", + "Shake the black plastic bottle with Pepsi logo after lifting it.", + "Take the yellow-capped cylindrical bottle using the left arm and give it a shake.", + "Using the left arm, shake the medium black bottle with printed label and then place it back.", + "Pick the drink bottle with rounded yellow lid up with the left arm and shake.", + "Pick the beverage bottle with black body, shake it with the left arm.", + "Pick up the black cylindrical bottle with ridges and shake it well.", + "Shake the medium bottle with yellow cap thoroughly after grabbing it.", + "Secure the medium black bottle with printed label, shake it, and place it down.", + "Use the left arm to hold the medium bottle with yellow cap and shake it.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Shake the yellow capped drink bottle after grabbing it.", + "Catch the black bottle and shake it instantly.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Hold the smooth black bottle with ridges with the left arm and shake lightly.", + "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.", + "Shake the the drink bottle with rounded yellow lid properly after lifting.", + "Shake the medium bottle with yellow cap using the left arm after grabbing.", + "Utilize the left arm to hold the black bottle and shake it.", + "With the left arm, pick the beverage bottle with black body and shake properly.", + "Grab the beverage bottle with black body and give it a shake.", + "Pick the plastic bottle with colorful label up using the left arm and shake it.", + "Pick the black cylindrical bottle with ridges and perform shaking motion.", + "Pick up the black bottle and shake it.", + "Use the left arm to pick and shake the medium bottle with yellow cap.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Hold the medium black bottle with printed label steady, then shake it.", + "Hold the beverage bottle with black body, shake it briefly.", + "Grab the yellow-capped cylindrical bottle with the left arm and shake.", + "Shake the medium bottle with yellow cap firmly after grabbing.", + "Hold the drink bottle with rounded yellow lid and shake it properly.", + "Lift the bottle with blue and yellow print and shake it gently.", + "Use the left arm to grab the smooth black bottle with ridges and shake it.", + "Use the left arm to grab the yellow capped drink bottle and shake properly.", + "Grab the yellow capped drink bottle using the left arm, then shake.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Hold and shake the the smooth black bottle with ridges carefully.", + "Grip the black cylindrical bottle with ridges using the left arm and shake.", + "Grab and shake the black cylindrical bottle with ridges using the left arm.", + "Lift the yellow capped drink bottle and shake it thoroughly.", + "Use the left arm to lift and shake the medium bottle with yellow cap.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Lift the yellow capped drink bottle with the left arm and shake it.", + "Lift the yellow capped drink bottle with the left arm and shake.", + "Lift the drink bottle with rounded yellow lid with the left arm and give it a shake.", + "Grab the beverage bottle with black body and move it to shake.", + "Grasp the medium black bottle with printed label with the left arm and shake it.", + "Grab the medium black bottle with printed label and shake it steadily.", + "Secure the bottle with blue and yellow print and perform a shake.", + "Lift up the black cylindrical bottle with ridges using the left arm, then shake.", + "Shake the black plastic bottle with Pepsi logo after holding it firmly.", + "Shake the yellow-capped cylindrical bottle after lifting it.", + "Take the plastic bottle with colorful label using the left arm and give it a shake.", + "Using the left arm, shake the beverage bottle with black body and then place it back.", + "Pick the yellow-capped cylindrical bottle up with the left arm and shake.", + "Pick the black plastic bottle with Pepsi logo, shake it with the left arm.", + "Pick up the plastic bottle with colorful label and shake it well.", + "Shake the yellow capped drink bottle thoroughly after grabbing it.", + "Secure the black bottle, shake it, and place it down.", + "Use the left arm to hold the medium black bottle with printed label and shake it.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Shake the medium black bottle with printed label after grabbing it." + ], + "unseen": [ + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode319.json b/shake_bottle/ur5_randomized_500/instructions/episode319.json new file mode 100644 index 0000000000000000000000000000000000000000..eb20b8c8ea0562580d31ff18ed9b27576fbb36c5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode319.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the medium bottle for beverages with the left arm and shake it.", + "Hold the bottle with blue cap steady, then shake it.", + "Use the left arm to grab the medium-sized bottle and shake it.", + "Secure the white and blue bottle, shake it, and place it down.", + "Shake the handheld bottle using the left arm after grabbing.", + "Pick the white and blue bottle up using the left arm and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift the white bottle with blue accents with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the medium bottle for beverages after grabbing it.", + "Grab the bottle for liquids with the left arm and shake.", + "Shake the white bottle with blue accents thoroughly after grabbing it.", + "With the left arm, pick the medium bottle for beverages and shake properly.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Shake the plastic bottle firmly after grabbing.", + "Use the left arm to lift and shake the bottle for liquids.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Use the left arm to pick and shake the bottle for liquids.", + "Pick the cylindrical bottle, shake it with the left arm.", + "Grab the medium bottle for beverages carefully and shake.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Hold the medium-sized bottle, shake it briefly.", + "Lift up the handheld bottle using the left arm, then shake.", + "Grab and shake the bottle with blue cap using the left arm.", + "Lift the medium bottle for beverages with the left arm and shake it.", + "Shake the blue bottle with label after holding it firmly.", + "Shake the the cylindrical bottle properly after lifting.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Grab the blue bottle with label and move it to shake.", + "Grip the bottle with blue cap using the left arm and shake.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Grab the bottle for liquids and give it a shake.", + "Lift the handheld bottle with the left arm and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Lift the smooth plastic bottle and shake it gently.", + "Secure the white and blue bottle and perform a shake.", + "Grab the blue bottle using the left arm, then shake.", + "Pick the handheld bottle up with the left arm and shake.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Pick up the bottle with blue cap and shake it well.", + "Pick up the smooth plastic bottle and shake it.", + "Take the white and blue bottle using the left arm and give it a shake.", + "Hold and shake the the bottle for liquids carefully.", + "Grab the blue bottle and shake it steadily.", + "Hold the bottle with blue cap and shake it properly.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the medium bottle for beverages after grabbing it.", + "Use the left arm to hold the cylindrical bottle and shake it.", + "Catch the white and blue bottle and shake it instantly.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Hold the medium-sized bottle steady, then shake it.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Secure the bottle for liquids, shake it, and place it down.", + "Shake the medium bottle for beverages using the left arm after grabbing.", + "Pick the plastic bottle up using the left arm and shake it.", + "Using the left arm, shake the blue bottle with label and then place it back.", + "Lift the handheld bottle with the left arm and shake.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the blue bottle with the left arm and shake.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Shake the bottle with blue cap firmly after grabbing.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Use the left arm to pick and shake the medium bottle for beverages.", + "Pick the blue bottle, shake it with the left arm.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Hold the plastic bottle, shake it briefly.", + "Lift up the white bottle with blue accents using the left arm, then shake.", + "Grab and shake the blue bottle using the left arm.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the smooth plastic bottle after holding it firmly.", + "Shake the the medium-sized bottle properly after lifting.", + "Hold the white bottle with blue accents with the left arm and shake lightly.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Grab the medium bottle for beverages and move it to shake.", + "Grip the smooth plastic bottle using the left arm and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the plastic bottle and give it a shake.", + "Lift the bottle for liquids with the left arm and give it a shake.", + "Shake the white and blue bottle after lifting it.", + "Lift the handheld bottle and shake it gently.", + "Secure the white and blue bottle and perform a shake.", + "Grab the white and blue bottle using the left arm, then shake.", + "Pick the cylindrical bottle up with the left arm and shake.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Pick up the blue bottle with label and shake it well.", + "Pick up the white bottle with blue accents and shake it.", + "Take the bottle for liquids using the left arm and give it a shake.", + "Hold and shake the the white and blue bottle carefully.", + "Grab the bottle for liquids and shake it steadily.", + "Hold the blue bottle and shake it properly.", + "Shake the bottle with blue cap after grabbing it.", + "Shake the handheld bottle after grabbing it.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Catch the plastic bottle and shake it instantly." + ], + "unseen": [ + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Shake the bottle with ridged neck after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode32.json b/shake_bottle/ur5_randomized_500/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..d0aab019439c3ce3f1ffee6ce856564215f4ad04 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the bottle with flat sides and logo and shake it.", + "Hold the dark brown bottle with a squared body with the left arm and shake lightly.", + "Hold and shake the the brown bottle carefully.", + "Hold the plastic bottle and shake it properly.", + "Secure the dark brown bottle with a squared body, shake it, and place it down.", + "Pick up the plastic bottle and shake it.", + "Use the left arm to pick and shake the brown bottle with rounded rectangular shape.", + "Grab the bottle with green cap and move it to shake.", + "Use the left arm to hold the smooth brown bottle with green label and shake it.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Lift the medium-sized brown plastic bottle with the left arm and give it a shake.", + "Hold the plastic bottle steady, then shake it.", + "Pick the rectangular-shaped bottle with round cap and perform shaking motion.", + "Grab the dark brown bottle with a squared body using the left arm, then shake.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Shake the medium-sized brown plastic bottle thoroughly after grabbing it.", + "Pick the brown bottle up using the left arm and shake it.", + "Pick up the smooth plastic bottle with white cap and shake it well.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Grasp the smooth plastic bottle with white cap with the left arm and shake it.", + "Grab and shake the medium bottle with glossy surface using the left arm.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Hold the dark brown bottle with a squared body, shake it briefly.", + "Grab the bottle with green cap carefully and shake.", + "Using the left arm, shake the rectangular brown body with white top and then place it back.", + "Lift the smooth brown bottle with green label with the left arm and shake.", + "Take the medium bottle with glossy surface using the left arm and give it a shake.", + "Secure the bottle with green cap and perform a shake.", + "Lift up the brown bottle using the left arm, then shake.", + "Shake the smooth plastic bottle with white cap after holding it firmly.", + "Grab the dark brown bottle with a squared body and give it a shake.", + "Shake the brown bottle with rounded rectangular shape after lifting it.", + "Use the left arm to grab the dark brown bottle with a squared body and shake properly.", + "Pick the medium-sized brown plastic bottle up with the left arm and shake.", + "Pick the bottle with flat sides and logo, shake it with the left arm.", + "Grip the plastic bottle using the left arm and shake.", + "Use the left arm to lift and shake the bottle with green cap.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Shake the smooth brown bottle with green label firmly after grabbing.", + "Utilize the left arm to hold the medium bottle with glossy surface and shake it.", + "Lift the dark brown bottle with a squared body with the left arm and shake it.", + "Lift the rectangular brown body with white top and shake it thoroughly.", + "Lift the bottle with green cap and shake it gently.", + "Grab the smooth brown bottle with green label with the left arm and shake.", + "With the left arm, pick the medium bottle with glossy surface and shake properly.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Grab the bottle with flat sides and logo and shake it steadily.", + "Catch the bottle with green cap and shake it instantly.", + "Use the left arm to grab the brown bottle with rounded rectangular shape and shake it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold and shake the the brown bottle with rounded rectangular shape carefully.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Pick up the brown bottle with rounded rectangular shape and shake it.", + "Use the left arm to pick and shake the medium bottle with glossy surface.", + "Grab the bottle with green cap and move it to shake.", + "Use the left arm to hold the brown bottle and shake it.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Lift the smooth brown bottle with green label with the left arm and give it a shake.", + "Hold the bottle with green cap steady, then shake it.", + "Pick the rectangular-shaped bottle with round cap and perform shaking motion.", + "Grab the dark brown bottle with a squared body using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Pick the medium bottle with glossy surface up using the left arm and shake it.", + "Pick up the medium bottle with glossy surface and shake it well.", + "Grab the smooth brown bottle with green label firmly, shake it, and put it down.", + "Shake the medium-sized brown plastic bottle using the left arm after grabbing.", + "Grasp the dark brown bottle with a squared body with the left arm and shake it.", + "Grab and shake the bottle with flat sides and logo using the left arm.", + "Shake the brown bottle after grabbing it.", + "Shake the the smooth plastic bottle with white cap properly after lifting.", + "Hold the brown bottle, shake it briefly.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Using the left arm, shake the dark brown bottle with a squared body and then place it back.", + "Lift the smooth brown bottle with green label with the left arm and shake.", + "Take the brown bottle using the left arm and give it a shake.", + "Secure the brown bottle with rounded rectangular shape and perform a shake.", + "Lift up the dark brown bottle with a squared body using the left arm, then shake.", + "Shake the smooth plastic bottle with white cap after holding it firmly.", + "Grab the brown bottle with rounded rectangular shape and give it a shake.", + "Shake the brown bottle after lifting it.", + "Use the left arm to grab the smooth plastic bottle with white cap and shake properly.", + "Pick the bottle with green cap up with the left arm and shake.", + "Pick the rectangular brown body with white top, shake it with the left arm.", + "Grip the bottle with green cap using the left arm and shake.", + "Use the left arm to lift and shake the bottle with green cap.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Shake the bottle with green cap firmly after grabbing.", + "Utilize the left arm to hold the rectangular brown body with white top and shake it.", + "Lift the bottle with flat sides and logo with the left arm and shake it.", + "Lift the medium-sized brown plastic bottle and shake it thoroughly.", + "Lift the brown bottle with rounded rectangular shape and shake it gently.", + "Grab the medium bottle with glossy surface with the left arm and shake.", + "With the left arm, pick the medium-sized brown plastic bottle and shake properly.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Grab the bottle with green cap and shake it steadily.", + "Catch the plastic bottle and shake it instantly." + ], + "unseen": [ + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode320.json b/shake_bottle/ur5_randomized_500/instructions/episode320.json new file mode 100644 index 0000000000000000000000000000000000000000..bd5707b47b9d303eb1429006d125d9de2f2d678f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode320.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized plastic bottle carefully and shake.", + "Shake the gray bottle with slight shine thoroughly after grabbing it.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Use the right arm to lift and shake the milk-bottle shape design.", + "Grab the smooth surface bottle with gray shade and shake it steadily.", + "Use the right arm to grab the light gray colored container bottle and shake it.", + "Secure the plastic bottle with ghost print, shake it, and place it down.", + "Lift the plastic bottle with ghost print and shake it gently.", + "Grab the light gray colored container bottle with the right arm and shake.", + "Catch the medium cylinder-shaped bottle and shake it instantly.", + "Grab and shake the light gray colored container bottle using the right arm.", + "Lift the gray bottle with slight shine with the right arm and give it a shake.", + "Shake the medium cylinder-shaped bottle using the right arm after grabbing.", + "Hold the medium-sized plastic bottle with the right arm and shake lightly.", + "Grab the hand-sized bottle with screw cap firmly, shake it, and put it down.", + "Pick up the rounded body bottle made of plastic and shake it well.", + "Secure the milk-bottle shape design and perform a shake.", + "Lift the plastic bottle with ghost print and shake it thoroughly.", + "Take the light gray colored container bottle using the right arm and give it a shake.", + "Grab the medium cylinder-shaped bottle and move it to shake.", + "Shake the medium cylinder-shaped bottle after holding it firmly.", + "Using the right arm, shake the smooth cylindrical bottle and then place it back.", + "Use the right arm to lift and shake the hand-sized bottle with screw cap.", + "Utilize the right arm to hold the milk-bottle shape design and shake it.", + "Use the right arm to hold the medium cylinder-shaped bottle and shake it.", + "Lift up the bottle with cute ghost drawing using the right arm, then shake.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "With the right arm, pick the medium cylinder-shaped bottle and shake properly.", + "Shake the the hand-sized bottle with screw cap properly after lifting.", + "Grab the bottle shaped like small cylinder using the right arm, then shake.", + "Shake the gray bottle with slight shine firmly after grabbing.", + "Pick the bottle with cute ghost drawing, shake it with the right arm.", + "Use the right arm to lift and shake the medium-sized plastic bottle.", + "Pick the bottle shaped like small cylinder up with the right arm and shake.", + "Hold the light gray colored container bottle steady, then shake it.", + "Shake the gray bottle with slight shine after grabbing it.", + "Lift the bottle with cute ghost drawing with the right arm and shake.", + "Lift the plastic bottle with ghost print with the right arm and shake it.", + "Pick the smooth surface bottle with gray shade and perform shaking motion.", + "Shake the hand-sized bottle with screw cap after lifting it.", + "Pick the bottle shaped like small cylinder up using the right arm and shake it.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Use the right arm to pick and shake the smooth surface bottle with gray shade.", + "Hold and shake the the smooth surface bottle with gray shade carefully.", + "Grab the plastic bottle with ghost print and give it a shake.", + "Grip the medium-sized plastic bottle using the right arm and shake.", + "Grasp the smooth cylindrical bottle with the right arm and shake it.", + "Hold the milk-bottle shape design and shake it properly.", + "Use the right arm to grab the medium-sized plastic bottle and shake properly.", + "Shake the smooth cylindrical bottle after grabbing it.", + "Grab the medium-sized plastic bottle carefully and shake.", + "Shake the smooth surface bottle with gray shade thoroughly after grabbing it.", + "Shake the milk-bottle shape design after grabbing it.", + "Use the right arm to lift and shake the bottle with cute ghost drawing.", + "Grab the milk-bottle shape design and shake it steadily.", + "Use the right arm to grab the milk-bottle shape design and shake it.", + "Secure the medium cylinder-shaped bottle, shake it, and place it down.", + "Lift the milk-bottle shape design and shake it gently.", + "Grab the light gray colored container bottle with the right arm and shake.", + "Catch the milk-bottle shape design and shake it instantly.", + "Grab and shake the bottle with cute ghost drawing using the right arm.", + "Lift the bottle shaped like small cylinder with the right arm and give it a shake.", + "Shake the rounded body bottle made of plastic using the right arm after grabbing.", + "Hold the bottle shaped like small cylinder with the right arm and shake lightly.", + "Grab the medium cylinder-shaped bottle firmly, shake it, and put it down.", + "Pick up the smooth cylindrical bottle and shake it well.", + "Secure the milk-bottle shape design and perform a shake.", + "Lift the smooth surface bottle with gray shade and shake it thoroughly.", + "Take the bottle with cute ghost drawing using the right arm and give it a shake.", + "Grab the smooth cylindrical bottle and move it to shake.", + "Shake the smooth cylindrical bottle after holding it firmly.", + "Using the right arm, shake the medium cylinder-shaped bottle and then place it back.", + "Use the right arm to lift and shake the plastic bottle with ghost print.", + "Utilize the right arm to hold the medium-sized plastic bottle and shake it.", + "Use the right arm to hold the bottle shaped like small cylinder and shake it.", + "Lift up the bottle with cute ghost drawing using the right arm, then shake.", + "Hold the gray bottle with slight shine, shake it briefly.", + "With the right arm, pick the gray bottle with slight shine and shake properly.", + "Shake the the medium cylinder-shaped bottle properly after lifting.", + "Grab the hand-sized bottle with screw cap using the right arm, then shake.", + "Shake the medium-sized plastic bottle firmly after grabbing.", + "Pick the bottle with cute ghost drawing, shake it with the right arm.", + "Use the right arm to lift and shake the hand-sized bottle with screw cap.", + "Pick the bottle with cute ghost drawing up with the right arm and shake.", + "Hold the medium-sized plastic bottle steady, then shake it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Lift the medium-sized plastic bottle with the right arm and shake.", + "Lift the hand-sized bottle with screw cap with the right arm and shake it.", + "Pick the plastic bottle with ghost print and perform shaking motion.", + "Shake the smooth surface bottle with gray shade after lifting it.", + "Pick the gray bottle with slight shine up using the right arm and shake it.", + "Pick up the smooth cylindrical bottle and shake it.", + "Use the right arm to pick and shake the hand-sized bottle with screw cap.", + "Hold and shake the the smooth surface bottle with gray shade carefully.", + "Grab the light gray colored container bottle and give it a shake.", + "Grip the bottle shaped like small cylinder using the right arm and shake.", + "Grasp the bottle shaped like small cylinder with the right arm and shake it.", + "Hold the rounded body bottle made of plastic and shake it properly.", + "Use the right arm to grab the medium cylinder-shaped bottle and shake properly.", + "Shake the smooth surface bottle with gray shade after grabbing it." + ], + "unseen": [ + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to pick the light gray bottle.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the bottle with rounded cap top.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to pick the light gray bottle.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the light gray bottle.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Use the right arm to pick the bottle with rounded cap top.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode321.json b/shake_bottle/ur5_randomized_500/instructions/episode321.json new file mode 100644 index 0000000000000000000000000000000000000000..8c1184677281f08460301c5abb9a69eeb764b930 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode321.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the orange drink bottle with label carefully.", + "Secure the grooved orange drink bottle and perform a shake.", + "Shake the orange bottle thoroughly after grabbing it.", + "Use the right arm to hold the orange bottle and shake it.", + "Hold the medium bottle with colorful label and shake it properly.", + "Catch the bottle for holding drinks and shake it instantly.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Shake the smooth orange bottle after grabbing it.", + "Lift the medium bottle with colorful label and shake it gently.", + "Shake the round-bottom bottle with white cap after lifting it.", + "Utilize the right arm to hold the curved orange soda bottle and shake it.", + "Grab the ridged orange bottle with grooves carefully and shake.", + "Shake the smooth orange bottle after grabbing it.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Pick the smooth orange bottle up with the right arm and shake.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Grasp the curved orange soda bottle with the right arm and shake it.", + "Grab the grooved orange drink bottle and shake it steadily.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab and shake the grooved orange drink bottle using the right arm.", + "Lift the orange bottle with the right arm and give it a shake.", + "Pick the light and medium-sized bottle, shake it with the right arm.", + "Pick up the smooth orange bottle and shake it.", + "With the right arm, pick the round-bottom bottle with white cap and shake properly.", + "Lift the curved orange soda bottle with the right arm and shake.", + "Shake the smooth orange bottle firmly after grabbing.", + "Grab the plastic bottle with the right arm and shake.", + "Grip the grooved orange drink bottle using the right arm and shake.", + "Hold the light and medium-sized bottle with the right arm and shake lightly.", + "Grab the orange drink bottle with label using the right arm, then shake.", + "Use the right arm to grab the medium bottle with colorful label and shake properly.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Secure the light and medium-sized bottle, shake it, and place it down.", + "Use the right arm to grab the curved orange soda bottle and shake it.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Grab the ridged orange bottle with grooves and move it to shake.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Pick the smooth orange bottle and perform shaking motion.", + "Grab the light and medium-sized bottle and give it a shake.", + "Pick up the plastic bottle and shake it well.", + "Use the right arm to pick and shake the grooved orange drink bottle.", + "Lift the cylindrical orange plastic bottle with the right arm and shake it.", + "Take the round-bottom bottle with white cap using the right arm and give it a shake.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Hold the medium bottle with colorful label, shake it briefly.", + "Using the right arm, shake the smooth orange bottle and then place it back.", + "Lift the light and medium-sized bottle and shake it thoroughly.", + "Lift up the bottle for holding drinks using the right arm, then shake.", + "Shake the the bottle for holding drinks properly after lifting.", + "Shake the bottle for holding drinks using the right arm after grabbing.", + "Hold and shake the the orange bottle carefully.", + "Secure the grooved orange drink bottle and perform a shake.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Use the right arm to hold the orange drink bottle with label and shake it.", + "Hold the medium bottle with colorful label and shake it properly.", + "Catch the light and medium-sized bottle and shake it instantly.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Shake the grooved orange drink bottle after grabbing it.", + "Lift the ridged orange bottle with grooves and shake it gently.", + "Shake the plastic bottle after lifting it.", + "Utilize the right arm to hold the smooth orange bottle and shake it.", + "Grab the orange bottle carefully and shake.", + "Shake the orange drink bottle with label after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the smooth orange bottle up with the right arm and shake.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Grasp the orange drink bottle with label with the right arm and shake it.", + "Grab the curved orange soda bottle and shake it steadily.", + "Pick the medium bottle with colorful label up using the right arm and shake it.", + "Grab and shake the cylindrical orange plastic bottle using the right arm.", + "Lift the grooved orange drink bottle with the right arm and give it a shake.", + "Pick the grooved orange drink bottle, shake it with the right arm.", + "Pick up the curved orange soda bottle and shake it.", + "With the right arm, pick the ridged orange bottle with grooves and shake properly.", + "Lift the cylindrical orange plastic bottle with the right arm and shake.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Grab the curved orange soda bottle with the right arm and shake.", + "Grip the bottle for holding drinks using the right arm and shake.", + "Hold the orange bottle with the right arm and shake lightly.", + "Grab the light and medium-sized bottle using the right arm, then shake.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Secure the bottle for holding drinks, shake it, and place it down.", + "Use the right arm to grab the smooth orange bottle and shake it.", + "Use the right arm to lift and shake the smooth orange bottle.", + "Grab the orange bottle and move it to shake.", + "Shake the orange drink bottle with label after holding it firmly.", + "Pick the grooved orange drink bottle and perform shaking motion.", + "Grab the bottle for holding drinks and give it a shake.", + "Pick up the light and medium-sized bottle and shake it well.", + "Use the right arm to pick and shake the plastic bottle.", + "Lift the bottle for holding drinks with the right arm and shake it.", + "Take the grooved orange drink bottle using the right arm and give it a shake.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Hold the curved orange soda bottle, shake it briefly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Lift up the cylindrical orange plastic bottle using the right arm, then shake.", + "Shake the the curved orange soda bottle properly after lifting.", + "Shake the smooth orange bottle using the right arm after grabbing." + ], + "unseen": [ + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode322.json b/shake_bottle/ur5_randomized_500/instructions/episode322.json new file mode 100644 index 0000000000000000000000000000000000000000..c34d08b7f2f49cd8c5be5e2411d56567002edbef --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode322.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the yellow bottle with dark label and perform shaking motion.", + "Hold the yellow bottle for liquid storage and shake it properly.", + "Grasp the medium plastic bottle with cap with the left arm and shake it.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Lift the yellow bottle with blue label with the left arm and give it a shake.", + "Grab the yellow bottle with dark label and shake it steadily.", + "Hold the yellow bottle with blue label with the left arm and shake lightly.", + "Shake the yellow bottle for liquid storage after holding it firmly.", + "Shake the handheld curvy bottle after grabbing it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Lift the bottle with screw cap and shake it gently.", + "Use the left arm to pick and shake the medium plastic bottle with cap.", + "Shake the plastic bottle with curved sides after lifting it.", + "Use the left arm to grab the handheld curvy bottle and shake it.", + "Use the left arm to hold the plastic bottle with curved sides and shake it.", + "Pick up the yellow bottle and shake it well.", + "Secure the yellow bottle with dark label and perform a shake.", + "Grab and shake the yellow bottle with dark label using the left arm.", + "Pick the yellow bottle for liquid storage up using the left arm and shake it.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Shake the bottle for liquid firmly after grabbing.", + "Grab the yellow bottle and move it to shake.", + "Lift up the medium plastic bottle with cap using the left arm, then shake.", + "Hold the medium-sized bottle, shake it briefly.", + "Grab the bottle for liquid carefully and shake.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Shake the the yellow bottle with dark label properly after lifting.", + "Lift the yellow bottle with dark label with the left arm and shake.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Lift the plastic bottle with curved sides with the left arm and shake it.", + "Grip the plastic bottle with curved sides using the left arm and shake.", + "Hold and shake the the handheld curvy bottle carefully.", + "Grab the bottle for liquid using the left arm, then shake.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Lift the yellow bottle for liquid storage and shake it thoroughly.", + "Grab the plastic bottle with curved sides and give it a shake.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Shake the bottle with screw cap using the left arm after grabbing.", + "Take the bottle for liquid using the left arm and give it a shake.", + "Pick the yellow bottle with dark label, shake it with the left arm.", + "Catch the medium plastic bottle with cap and shake it instantly.", + "Grab the yellow bottle with dark label with the left arm and shake.", + "Pick the plastic bottle with curved sides up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Grab the medium-sized bottle firmly, shake it, and put it down.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Shake the handheld curvy bottle thoroughly after grabbing it.", + "Pick up the yellow bottle with blue label and shake it.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Hold the yellow bottle and shake it properly.", + "Grasp the handheld curvy bottle with the left arm and shake it.", + "Secure the bottle with screw cap, shake it, and place it down.", + "Lift the yellow bottle with the left arm and give it a shake.", + "Grab the bottle with screw cap and shake it steadily.", + "Hold the bottle for liquid with the left arm and shake lightly.", + "Shake the yellow bottle for liquid storage after holding it firmly.", + "Shake the bottle with screw cap after grabbing it.", + "Hold the plastic bottle with curved sides steady, then shake it.", + "Lift the bottle for liquid and shake it gently.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Shake the yellow bottle after lifting it.", + "Use the left arm to grab the medium plastic bottle with cap and shake it.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Pick up the bottle with screw cap and shake it well.", + "Secure the yellow bottle and perform a shake.", + "Grab and shake the bottle for liquid using the left arm.", + "Pick the bottle for liquid up using the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the plastic bottle with curved sides firmly after grabbing.", + "Grab the plastic bottle and move it to shake.", + "Lift up the yellow bottle using the left arm, then shake.", + "Hold the plastic bottle with curved sides, shake it briefly.", + "Grab the yellow bottle carefully and shake.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the the medium plastic bottle with cap properly after lifting.", + "Lift the plastic bottle with curved sides with the left arm and shake.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Lift the yellow bottle with the left arm and shake it.", + "Grip the bottle with screw cap using the left arm and shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Grab the medium plastic bottle with cap using the left arm, then shake.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Lift the yellow bottle with blue label and shake it thoroughly.", + "Grab the plastic bottle with curved sides and give it a shake.", + "Utilize the left arm to hold the handheld curvy bottle and shake it.", + "Use the left arm to grab the handheld curvy bottle and shake properly.", + "Shake the yellow bottle with dark label using the left arm after grabbing.", + "Take the yellow bottle for liquid storage using the left arm and give it a shake.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Catch the handheld curvy bottle and shake it instantly.", + "Grab the plastic bottle with the left arm and shake.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Grab the handheld curvy bottle firmly, shake it, and put it down.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Pick up the yellow bottle with blue label and shake it." + ], + "unseen": [ + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode323.json b/shake_bottle/ur5_randomized_500/instructions/episode323.json new file mode 100644 index 0000000000000000000000000000000000000000..4d4c986a9c4c6413031f1f31524b59447da3a7db --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode323.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Use the left arm to pick and shake the medium plastic bottle.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Shake the rounded bottle with printed details after grabbing it.", + "Lift the medium bottle with smooth texture with the left arm and give it a shake.", + "Lift up the plastic bottle for liquids using the left arm, then shake.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Secure the smooth brown bottle and perform a shake.", + "Pick the cylindrical bottle with narrow neck, shake it with the left arm.", + "Pick the rounded bottle with printed details up with the left arm and shake.", + "Lift the rounded bottle with printed details with the left arm and shake.", + "Pick the medium bottle with smooth texture up using the left arm and shake it.", + "Grab the medium plastic bottle with the left arm and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Grab and shake the plastic bottle for liquids using the left arm.", + "Using the left arm, shake the bottle with white cap and then place it back.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Pick up the rounded bottle with printed details and shake it.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Use the left arm to grab the bottle with dark brown color and shake it.", + "Grab the medium plastic bottle carefully and shake.", + "Grasp the plastic bottle with printed label with the left arm and shake it.", + "Take the handheld brown bottle with white lid using the left arm and give it a shake.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Grab the bottle with white cap using the left arm, then shake.", + "Use the left arm to grab the rounded bottle with printed details and shake properly.", + "Shake the rounded bottle with printed details after lifting it.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Grip the medium plastic bottle using the left arm and shake.", + "Utilize the left arm to hold the medium bottle with smooth texture and shake it.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Lift the medium plastic bottle and shake it thoroughly.", + "Shake the plastic bottle for liquids thoroughly after grabbing it.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Shake the white-capped brown cylindrical bottle using the left arm after grabbing.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Grab the bottle with brown body and white top and move it to shake.", + "Hold the bottle with brown body and white top and shake it properly.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Shake the bottle with white cap after grabbing it.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake it.", + "Pick up the plastic bottle with printed label and shake it well.", + "With the left arm, pick the handheld brown bottle with white lid and shake properly.", + "Use the left arm to pick and shake the smooth brown bottle.", + "Shake the the bottle with brown body and white top properly after lifting.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Lift the medium bottle with smooth texture with the left arm and give it a shake.", + "Lift up the rounded bottle with printed details using the left arm, then shake.", + "Shake the bottle with brown body and white top after grabbing it.", + "Secure the bottle with brown body and white top and perform a shake.", + "Pick the handheld brown bottle with white lid, shake it with the left arm.", + "Pick the handheld brown bottle with white lid up with the left arm and shake.", + "Lift the plastic bottle with printed label with the left arm and shake.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Grab the medium plastic bottle with the left arm and shake.", + "Grab the medium bottle with smooth texture and give it a shake.", + "Hold the medium plastic bottle, shake it briefly.", + "Grab and shake the medium bottle with smooth texture using the left arm.", + "Using the left arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Use the left arm to hold the plastic bottle for liquids and shake it.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Pick up the bottle with brown body and white top and shake it.", + "Lift the bottle with white cap and shake it gently.", + "Use the left arm to grab the smooth brown bottle and shake it.", + "Grab the bottle with dark brown color carefully and shake.", + "Grasp the cylindrical bottle with narrow neck with the left arm and shake it.", + "Take the medium plastic bottle using the left arm and give it a shake.", + "Shake the white-capped brown cylindrical bottle firmly after grabbing.", + "Grab the bottle with dark brown color using the left arm, then shake.", + "Use the left arm to grab the medium bottle with smooth texture and shake properly.", + "Shake the rounded bottle with printed details after lifting it.", + "Hold and shake the the smooth brown bottle carefully.", + "Grip the plastic bottle with printed label using the left arm and shake.", + "Utilize the left arm to hold the smooth brown bottle and shake it.", + "Catch the bottle with white cap and shake it instantly.", + "Pick the bottle with white cap and perform shaking motion.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Grab the medium plastic bottle and shake it steadily.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Secure the medium plastic bottle, shake it, and place it down.", + "Shake the plastic bottle with printed label using the left arm after grabbing.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Grab the bottle with dark brown color and move it to shake.", + "Hold the smooth brown bottle and shake it properly.", + "Hold the bottle with white cap steady, then shake it.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Lift the bottle with white cap with the left arm and shake it." + ], + "unseen": [ + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode324.json b/shake_bottle/ur5_randomized_500/instructions/episode324.json new file mode 100644 index 0000000000000000000000000000000000000000..35a42d069bb8a0b32109f94a0071f96f55150369 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode324.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth green plastic bottle with the left arm and shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Lift the handheld green bottle and shake it gently.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Grab the smooth green plastic bottle and give it a shake.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Catch the medium green bottle and shake it instantly.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Hold the bottle with white printed label and shake it properly.", + "Use the left arm to lift and shake the smooth green bottle.", + "Pick the handheld green bottle, shake it with the left arm.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the the handheld green bottle properly after lifting.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Secure the bottle with ridges near base and perform a shake.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Grab and shake the bottle with white printed label using the left arm.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Grab the bottle with white printed label and shake it steadily.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Pick the bottle with white printed label and perform shaking motion.", + "Shake the smooth green bottle firmly after grabbing.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Hold and shake the the handheld green bottle carefully.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Grip the green bottle with indented base using the left arm and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick up the medium-sized green bottle and shake it well.", + "Shake the bottle with ridges near base after lifting it.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Lift the handheld green bottle with the left arm and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift up the medium green bottle using the left arm, then shake.", + "Hold the handheld green bottle, shake it briefly.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the medium green bottle using the left arm, then shake.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the smooth green bottle with the left arm and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Lift the smooth green bottle and shake it gently.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Catch the handheld green bottle and shake it instantly.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Use the left arm to lift and shake the handheld green bottle.", + "Pick the plastic bottle, shake it with the left arm.", + "Pick up the green bottle with indented base and shake it.", + "Shake the the handheld green bottle properly after lifting.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Grab the bottle with narrow top and move it to shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Grab the medium green bottle and shake it steadily.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Shake the plastic bottle after holding it firmly.", + "Hold and shake the the medium-sized green bottle carefully.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Pick up the smooth green bottle and shake it well.", + "Shake the medium green bottle with capped neck after lifting it.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift up the plastic bottle using the left arm, then shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Shake the medium green bottle with capped neck after grabbing it." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode325.json b/shake_bottle/ur5_randomized_500/instructions/episode325.json new file mode 100644 index 0000000000000000000000000000000000000000..071f5326d0c35f57acfc63083e1e1edd9951b876 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode325.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with colorful label with the right arm and shake it.", + "Lift the medium bottle with yellow cap with the right arm and shake.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.", + "Grab the yellow capped drink bottle and shake it steadily.", + "Pick up the yellow-capped cylindrical bottle and shake it.", + "Use the right arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Hold and shake the the yellow capped drink bottle carefully.", + "Use the right arm to lift and shake the medium bottle with yellow cap.", + "Grab the plastic bottle with colorful label and give it a shake.", + "Grab the plastic bottle with colorful label firmly, shake it, and put it down.", + "Using the right arm, shake the beverage bottle with black body and then place it back.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Use the right arm to grab the bottle with blue and yellow print and shake properly.", + "Pick the drink bottle with rounded yellow lid and perform shaking motion.", + "Pick up the yellow capped drink bottle and shake it well.", + "Shake the beverage bottle with black body after lifting it.", + "Shake the bottle with blue and yellow print using the right arm after grabbing.", + "Utilize the right arm to hold the yellow capped drink bottle and shake it.", + "Lift up the plastic bottle with colorful label using the right arm, then shake.", + "Take the plastic bottle with colorful label using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium bottle with yellow cap.", + "Grab the black cylindrical bottle with ridges carefully and shake.", + "Use the right arm to pick and shake the plastic bottle with colorful label.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Catch the yellow capped drink bottle and shake it instantly.", + "Pick the black cylindrical bottle with ridges, shake it with the right arm.", + "Hold the black bottle with the right arm and shake lightly.", + "Grab the beverage bottle with black body and move it to shake.", + "Shake the beverage bottle with black body thoroughly after grabbing it.", + "Grip the smooth black bottle with ridges using the right arm and shake.", + "Pick the black cylindrical bottle with ridges up using the right arm and shake it.", + "Grab the black bottle with the right arm and shake.", + "Hold the black plastic bottle with Pepsi logo, shake it briefly.", + "Shake the beverage bottle with black body firmly after grabbing.", + "Use the right arm to grab the bottle with blue and yellow print and shake it.", + "Lift the drink bottle with rounded yellow lid and shake it thoroughly.", + "Grasp the black bottle with the right arm and shake it.", + "Secure the beverage bottle with black body and perform a shake.", + "Grab and shake the black bottle using the right arm.", + "Shake the yellow capped drink bottle after grabbing it.", + "Shake the medium black bottle with printed label after holding it firmly.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "With the right arm, pick the yellow capped drink bottle and shake properly.", + "Lift the yellow capped drink bottle with the right arm and give it a shake.", + "Pick the drink bottle with rounded yellow lid up with the right arm and shake.", + "Hold the black cylindrical bottle with ridges steady, then shake it.", + "Hold the yellow-capped cylindrical bottle and shake it properly.", + "Lift the medium bottle with yellow cap with the right arm and shake it.", + "Lift the black cylindrical bottle with ridges with the right arm and shake.", + "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.", + "Grab the beverage bottle with black body using the right arm, then shake.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Pick up the drink bottle with rounded yellow lid and shake it.", + "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.", + "Lift the black bottle and shake it gently.", + "Hold and shake the the medium black bottle with printed label carefully.", + "Use the right arm to lift and shake the medium black bottle with printed label.", + "Grab the black plastic bottle with Pepsi logo and give it a shake.", + "Grab the drink bottle with rounded yellow lid firmly, shake it, and put it down.", + "Using the right arm, shake the black cylindrical bottle with ridges and then place it back.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Use the right arm to grab the bottle with blue and yellow print and shake properly.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Pick up the bottle with blue and yellow print and shake it well.", + "Shake the smooth black bottle with ridges after lifting it.", + "Shake the yellow-capped cylindrical bottle using the right arm after grabbing.", + "Utilize the right arm to hold the beverage bottle with black body and shake it.", + "Lift up the medium bottle with yellow cap using the right arm, then shake.", + "Take the plastic bottle with colorful label using the right arm and give it a shake.", + "Use the right arm to lift and shake the black bottle.", + "Grab the medium bottle with yellow cap carefully and shake.", + "Use the right arm to pick and shake the beverage bottle with black body.", + "Shake the the beverage bottle with black body properly after lifting.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Catch the smooth black bottle with ridges and shake it instantly.", + "Pick the beverage bottle with black body, shake it with the right arm.", + "Hold the medium black bottle with printed label with the right arm and shake lightly.", + "Grab the yellow capped drink bottle and move it to shake.", + "Shake the smooth black bottle with ridges thoroughly after grabbing it.", + "Grip the smooth black bottle with ridges using the right arm and shake.", + "Pick the yellow capped drink bottle up using the right arm and shake it.", + "Grab the beverage bottle with black body with the right arm and shake.", + "Hold the black cylindrical bottle with ridges, shake it briefly.", + "Shake the drink bottle with rounded yellow lid firmly after grabbing.", + "Use the right arm to grab the bottle with blue and yellow print and shake it.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Grasp the medium black bottle with printed label with the right arm and shake it.", + "Secure the medium black bottle with printed label and perform a shake.", + "Grab and shake the yellow capped drink bottle using the right arm.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Shake the medium bottle with yellow cap after holding it firmly.", + "Shake the black bottle after grabbing it.", + "With the right arm, pick the black bottle and shake properly.", + "Lift the medium bottle with yellow cap with the right arm and give it a shake.", + "Pick the yellow capped drink bottle up with the right arm and shake.", + "Hold the beverage bottle with black body steady, then shake it.", + "Hold the beverage bottle with black body and shake it properly." + ], + "unseen": [ + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode326.json b/shake_bottle/ur5_randomized_500/instructions/episode326.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7dda637bf334db0687db2c9ebe38cdd2659eec --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode326.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges near base after lifting it.", + "Grab the smooth green bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Hold the plastic bottle, shake it briefly.", + "Grab the medium green bottle with the left arm and shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Pick up the medium-sized green bottle and shake it well.", + "Lift the bottle with ridges near base and shake it gently.", + "Hold the bottle with white printed label steady, then shake it.", + "Lift the green bottle with indented base with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Lift the plastic bottle with the left arm and shake it.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Grab the medium-sized green bottle carefully and shake.", + "Secure the bottle with rounded neck and perform a shake.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Catch the bottle with narrow top and shake it instantly.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Pick the bottle with narrow top, shake it with the left arm.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Lift the medium green bottle and shake it thoroughly.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the smooth green plastic bottle and move it to shake.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grip the green bottle with indented base using the left arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Pick up the smooth green plastic bottle and shake it.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Hold the bottle with narrow top and shake it properly.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grab the handheld green bottle and give it a shake.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Shake the smooth green plastic bottle after lifting it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Hold the plastic bottle, shake it briefly.", + "Grab the green bottle with indented base with the left arm and shake.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Pick up the plastic bottle and shake it well.", + "Lift the bottle with ridges near base and shake it gently.", + "Hold the smooth green bottle steady, then shake it.", + "Lift the handheld green bottle with the left arm and shake.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Use the left arm to grab the medium green bottle and shake it.", + "Hold and shake the the medium green bottle carefully.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the bottle with narrow top after grabbing it.", + "Grab and shake the plastic bottle using the left arm.", + "Grab the medium-sized green bottle carefully and shake.", + "Secure the bottle with white printed label and perform a shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Lift up the plastic bottle using the left arm, then shake.", + "Catch the bottle with rounded neck and shake it instantly.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Grab the handheld green bottle using the left arm, then shake.", + "Pick the bottle with white printed label, shake it with the left arm.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the bottle with white printed label and move it to shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Shake the smooth green bottle firmly after grabbing.", + "Pick up the smooth green plastic bottle and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Hold the medium green bottle and shake it properly.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the smooth green bottle and give it a shake.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Use the left arm to grab the bottle with narrow top and shake properly." + ], + "unseen": [ + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode327.json b/shake_bottle/ur5_randomized_500/instructions/episode327.json new file mode 100644 index 0000000000000000000000000000000000000000..781b445a76bae1e6aaa46087f48fc45fe308d318 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode327.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the medium-sized orange bottle carefully.", + "Hold the bottle with narrow neck and shake it properly.", + "Shake the bottle with yellow cap after lifting it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Shake the the bottle with narrow neck properly after lifting.", + "Pick up the orange bottle and shake it well.", + "Shake the bottle for liquids after holding it firmly.", + "Hold the bottle for liquids, shake it briefly.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Pick the cylindrical orange bottle with yellow top up with the right arm and shake.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Hold the bottle with printed label with the right arm and shake lightly.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the yellow-capped plastic bottle with the right arm and shake.", + "Take the plastic bottle using the right arm and give it a shake.", + "Grab the cylindrical orange bottle with yellow top and give it a shake.", + "Lift up the bottle for liquids using the right arm, then shake.", + "Shake the medium-sized orange bottle after grabbing it.", + "Hold the medium-sized orange bottle steady, then shake it.", + "Shake the orange bottle after grabbing it.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Use the right arm to pick and shake the plastic bottle with sealed yellow cap.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Using the right arm, shake the bottle with narrow neck and then place it back.", + "Secure the bottle with narrow neck and perform a shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Grab the plastic bottle with sealed yellow cap using the right arm, then shake.", + "Lift the medium-sized orange bottle and shake it gently.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Catch the medium-sized orange bottle and shake it instantly.", + "With the right arm, pick the orange cylindrical bottle and shake properly.", + "Lift the yellow-capped plastic bottle with the right arm and shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Pick the orange cylindrical bottle, shake it with the right arm.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Use the right arm to lift and shake the bottle for liquids.", + "Utilize the right arm to hold the bottle with printed label and shake it.", + "Pick the plastic bottle with sealed yellow cap up using the right arm and shake it.", + "Shake the bottle with printed label thoroughly after grabbing it.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Shake the bottle with printed label using the right arm after grabbing.", + "Lift the bottle with narrow neck with the right arm and give it a shake.", + "Shake the bottle with narrow neck after grabbing it.", + "Lift the yellow-capped plastic bottle with the right arm and shake.", + "Grip the cylindrical orange bottle with yellow top using the right arm and shake.", + "Grab and shake the yellow-capped plastic bottle using the right arm.", + "Hold and shake the the bottle with narrow neck carefully.", + "Hold the medium-sized orange bottle and shake it properly.", + "Shake the bottle with narrow neck after lifting it.", + "Use the right arm to grab the bottle for liquids and shake it.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Pick up the cylindrical orange bottle with yellow top and shake it well.", + "Shake the orange bottle after holding it firmly.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the bottle for liquids and shake it.", + "Grab the orange bottle and move it to shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Hold the medium-sized orange bottle with the right arm and shake lightly.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Grab the bottle for liquids with the right arm and shake.", + "Take the medium-sized orange bottle using the right arm and give it a shake.", + "Grab the plastic bottle and give it a shake.", + "Lift up the orange cylindrical bottle using the right arm, then shake.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Hold the plastic bottle with sealed yellow cap steady, then shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the cylindrical orange bottle with yellow top carefully and shake.", + "Use the right arm to pick and shake the orange cylindrical bottle.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Using the right arm, shake the medium-sized orange bottle and then place it back.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Grasp the orange cylindrical bottle with the right arm and shake it.", + "Grab the plastic bottle with sealed yellow cap using the right arm, then shake.", + "Lift the plastic bottle and shake it gently.", + "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.", + "Pick the bottle for liquids and perform shaking motion.", + "Catch the medium-sized orange bottle and shake it instantly.", + "With the right arm, pick the bottle with yellow cap and shake properly.", + "Lift the orange bottle with the right arm and shake it.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Use the right arm to hold the bottle with yellow cap and shake it.", + "Pick the plastic bottle with sealed yellow cap, shake it with the right arm.", + "Shake the orange bottle firmly after grabbing.", + "Use the right arm to lift and shake the bottle with printed label.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Pick the medium-sized orange bottle up using the right arm and shake it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Grab the bottle with narrow neck and shake it steadily.", + "Shake the orange cylindrical bottle using the right arm after grabbing.", + "Lift the orange cylindrical bottle with the right arm and give it a shake.", + "Shake the medium-sized orange bottle after grabbing it.", + "Lift the bottle for liquids with the right arm and shake.", + "Grip the bottle for liquids using the right arm and shake.", + "Grab and shake the smooth plastic bottle using the right arm." + ], + "unseen": [ + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode328.json b/shake_bottle/ur5_randomized_500/instructions/episode328.json new file mode 100644 index 0000000000000000000000000000000000000000..aa3872dc217dd3fa2d9422eb34cdafd6756aa45c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode328.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the bottle with screw cap carefully.", + "Shake the yellow bottle firmly after grabbing.", + "Secure the yellow bottle with dark label, shake it, and place it down.", + "Pick the handheld curvy bottle up using the right arm and shake it.", + "Grab the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to grab the yellow bottle and shake properly.", + "Pick up the medium-sized bottle and shake it well.", + "Pick the bottle for liquid and perform shaking motion.", + "Take the yellow bottle with blue label using the right arm and give it a shake.", + "Pick up the yellow bottle and shake it.", + "Grab and shake the medium plastic bottle with cap using the right arm.", + "Secure the plastic bottle with curved sides and perform a shake.", + "Lift the smooth plastic bottle and shake it gently.", + "Pick the yellow bottle with dark label up with the right arm and shake.", + "With the right arm, pick the plastic bottle with curved sides and shake properly.", + "Hold the bottle with screw cap steady, then shake it.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Hold the plastic bottle with curved sides, shake it briefly.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to lift and shake the yellow bottle.", + "Hold the yellow bottle for liquid storage and shake it properly.", + "Utilize the right arm to hold the yellow bottle with dark label and shake it.", + "Use the right arm to pick and shake the medium-sized bottle.", + "Shake the the yellow bottle for liquid storage properly after lifting.", + "Pick the plastic bottle with curved sides, shake it with the right arm.", + "Grab the yellow bottle with blue label and give it a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Catch the medium plastic bottle with cap and shake it instantly.", + "Shake the yellow bottle after grabbing it.", + "Lift the plastic bottle with the right arm and shake.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Shake the yellow bottle after grabbing it.", + "Lift the bottle for liquid and shake it thoroughly.", + "Shake the medium-sized bottle after holding it firmly.", + "Using the right arm, shake the smooth plastic bottle and then place it back.", + "Lift the yellow bottle with blue label with the right arm and give it a shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Grab the yellow bottle and move it to shake.", + "Grab the bottle for liquid using the right arm, then shake.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grasp the handheld curvy bottle with the right arm and shake it.", + "Grab the handheld curvy bottle and shake it steadily.", + "Hold the yellow bottle with dark label with the right arm and shake lightly.", + "Grab the bottle with screw cap firmly, shake it, and put it down.", + "Grab the handheld curvy bottle carefully and shake.", + "Use the right arm to lift and shake the yellow bottle for liquid storage.", + "Lift up the yellow bottle using the right arm, then shake.", + "Shake the yellow bottle after grabbing it.", + "Shake the medium plastic bottle with cap after lifting it.", + "Shake the medium plastic bottle with cap using the right arm after grabbing.", + "Hold and shake the the handheld curvy bottle carefully.", + "Shake the bottle for liquid firmly after grabbing.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Pick the handheld curvy bottle up using the right arm and shake it.", + "Grab the handheld curvy bottle with the right arm and shake.", + "Use the right arm to grab the plastic bottle with curved sides and shake properly.", + "Pick up the plastic bottle and shake it well.", + "Pick the bottle with screw cap and perform shaking motion.", + "Take the medium plastic bottle with cap using the right arm and give it a shake.", + "Pick up the handheld curvy bottle and shake it.", + "Grab and shake the plastic bottle using the right arm.", + "Secure the yellow bottle for liquid storage and perform a shake.", + "Lift the bottle with screw cap and shake it gently.", + "Pick the yellow bottle up with the right arm and shake.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Hold the yellow bottle for liquid storage steady, then shake it.", + "Use the right arm to grab the yellow bottle with blue label and shake it.", + "Hold the smooth plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "Hold the yellow bottle and shake it properly.", + "Utilize the right arm to hold the handheld curvy bottle and shake it.", + "Use the right arm to pick and shake the yellow bottle with blue label.", + "Shake the the yellow bottle with dark label properly after lifting.", + "Pick the yellow bottle, shake it with the right arm.", + "Grab the handheld curvy bottle and give it a shake.", + "Lift the yellow bottle with dark label with the right arm and shake it.", + "Catch the plastic bottle with curved sides and shake it instantly.", + "Shake the yellow bottle with dark label after grabbing it.", + "Lift the bottle for liquid with the right arm and shake.", + "Grip the medium plastic bottle with cap using the right arm and shake.", + "Shake the yellow bottle after grabbing it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Shake the yellow bottle after holding it firmly.", + "Using the right arm, shake the medium-sized bottle and then place it back.", + "Lift the yellow bottle with the right arm and give it a shake.", + "Shake the plastic bottle with curved sides thoroughly after grabbing it.", + "Grab the yellow bottle with blue label and move it to shake.", + "Grab the bottle for liquid using the right arm, then shake.", + "Use the right arm to hold the yellow bottle with dark label and shake it.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Grab the yellow bottle with dark label and shake it steadily.", + "Hold the yellow bottle for liquid storage with the right arm and shake lightly.", + "Grab the plastic bottle with curved sides firmly, shake it, and put it down.", + "Grab the smooth plastic bottle carefully and shake.", + "Use the right arm to lift and shake the bottle with screw cap.", + "Lift up the yellow bottle with blue label using the right arm, then shake.", + "Shake the yellow bottle after grabbing it.", + "Shake the plastic bottle after lifting it.", + "Shake the medium-sized bottle using the right arm after grabbing." + ], + "unseen": [ + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode329.json b/shake_bottle/ur5_randomized_500/instructions/episode329.json new file mode 100644 index 0000000000000000000000000000000000000000..a10351fbb8c69de03d42e1dd07f2c6e837561dab --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode329.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the plastic bottle with ghost print and shake it.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Using the left arm, shake the smooth cylindrical bottle and then place it back.", + "Pick up the hand-sized bottle with screw cap and shake it well.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Take the medium-sized plastic bottle using the left arm and give it a shake.", + "Lift the bottle with cute ghost drawing with the left arm and shake.", + "Lift up the smooth cylindrical bottle using the left arm, then shake.", + "Use the left arm to grab the medium-sized plastic bottle and shake properly.", + "Pick the plastic bottle with ghost print up using the left arm and shake it.", + "Grab the medium cylinder-shaped bottle firmly, shake it, and put it down.", + "Grab the bottle shaped like small cylinder and shake it steadily.", + "Grab the smooth surface bottle with gray shade carefully and shake.", + "Hold the smooth surface bottle with gray shade steady, then shake it.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Grab the milk-bottle shape design and give it a shake.", + "With the left arm, pick the bottle shaped like small cylinder and shake properly.", + "Secure the gray bottle with slight shine and perform a shake.", + "Grab and shake the milk-bottle shape design using the left arm.", + "Shake the bottle shaped like small cylinder after lifting it.", + "Shake the bottle shaped like small cylinder after holding it firmly.", + "Shake the milk-bottle shape design thoroughly after grabbing it.", + "Utilize the left arm to hold the smooth cylindrical bottle and shake it.", + "Lift the milk-bottle shape design and shake it thoroughly.", + "Shake the milk-bottle shape design firmly after grabbing.", + "Shake the light gray colored container bottle using the left arm after grabbing.", + "Lift the light gray colored container bottle with the left arm and shake it.", + "Pick the rounded body bottle made of plastic and perform shaking motion.", + "Use the left arm to hold the hand-sized bottle with screw cap and shake it.", + "Hold the gray bottle with slight shine, shake it briefly.", + "Use the left arm to grab the medium-sized plastic bottle and shake it.", + "Use the left arm to pick and shake the gray bottle with slight shine.", + "Shake the plastic bottle with ghost print after grabbing it.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "Shake the the smooth cylindrical bottle properly after lifting.", + "Lift the hand-sized bottle with screw cap with the left arm and give it a shake.", + "Secure the medium cylinder-shaped bottle, shake it, and place it down.", + "Hold the smooth surface bottle with gray shade and shake it properly.", + "Grab the bottle shaped like small cylinder using the left arm, then shake.", + "Hold and shake the the milk-bottle shape design carefully.", + "Pick the light gray colored container bottle up with the left arm and shake.", + "Grab the milk-bottle shape design and move it to shake.", + "Grab the medium-sized plastic bottle with the left arm and shake.", + "Pick the medium-sized plastic bottle, shake it with the left arm.", + "Lift the plastic bottle with ghost print and shake it gently.", + "Grasp the smooth cylindrical bottle with the left arm and shake it.", + "Grip the plastic bottle with ghost print using the left arm and shake.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Hold the bottle with cute ghost drawing with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with cute ghost drawing.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Catch the milk-bottle shape design and shake it instantly.", + "Using the left arm, shake the smooth surface bottle with gray shade and then place it back.", + "Pick up the smooth surface bottle with gray shade and shake it well.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Take the medium cylinder-shaped bottle using the left arm and give it a shake.", + "Lift the hand-sized bottle with screw cap with the left arm and shake.", + "Lift up the light gray colored container bottle using the left arm, then shake.", + "Use the left arm to grab the medium-sized plastic bottle and shake properly.", + "Pick the medium cylinder-shaped bottle up using the left arm and shake it.", + "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.", + "Grab the milk-bottle shape design and shake it steadily.", + "Grab the bottle shaped like small cylinder carefully and shake.", + "Hold the smooth surface bottle with gray shade steady, then shake it.", + "Shake the light gray colored container bottle after grabbing it.", + "Grab the rounded body bottle made of plastic and give it a shake.", + "With the left arm, pick the medium cylinder-shaped bottle and shake properly.", + "Secure the light gray colored container bottle and perform a shake.", + "Grab and shake the smooth cylindrical bottle using the left arm.", + "Shake the plastic bottle with ghost print after lifting it.", + "Shake the gray bottle with slight shine after holding it firmly.", + "Shake the light gray colored container bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the plastic bottle with ghost print and shake it.", + "Lift the gray bottle with slight shine and shake it thoroughly.", + "Shake the medium cylinder-shaped bottle firmly after grabbing.", + "Shake the medium cylinder-shaped bottle using the left arm after grabbing.", + "Lift the medium-sized plastic bottle with the left arm and shake it.", + "Pick the bottle with cute ghost drawing and perform shaking motion.", + "Use the left arm to hold the rounded body bottle made of plastic and shake it.", + "Hold the medium cylinder-shaped bottle, shake it briefly.", + "Use the left arm to grab the milk-bottle shape design and shake it.", + "Use the left arm to pick and shake the milk-bottle shape design.", + "Shake the milk-bottle shape design after grabbing it.", + "Use the left arm to lift and shake the milk-bottle shape design.", + "Shake the the hand-sized bottle with screw cap properly after lifting.", + "Lift the gray bottle with slight shine with the left arm and give it a shake.", + "Secure the hand-sized bottle with screw cap, shake it, and place it down.", + "Hold the gray bottle with slight shine and shake it properly.", + "Grab the light gray colored container bottle using the left arm, then shake.", + "Hold and shake the the smooth surface bottle with gray shade carefully.", + "Pick the hand-sized bottle with screw cap up with the left arm and shake.", + "Grab the smooth cylindrical bottle and move it to shake.", + "Grab the milk-bottle shape design with the left arm and shake.", + "Pick the smooth surface bottle with gray shade, shake it with the left arm.", + "Lift the milk-bottle shape design and shake it gently.", + "Grasp the medium cylinder-shaped bottle with the left arm and shake it.", + "Grip the bottle shaped like small cylinder using the left arm and shake.", + "Shake the bottle shaped like small cylinder after grabbing it.", + "Hold the milk-bottle shape design with the left arm and shake lightly.", + "Use the left arm to lift and shake the light gray colored container bottle." + ], + "unseen": [ + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to pick the light gray bottle.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick and shake the the light gray bottle with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the gray bottle for holding drinks and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode33.json b/shake_bottle/ur5_randomized_500/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..47482a38482395e18a50a3d5fc303965ddf9057e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bottle for liquids using the left arm and give it a shake.", + "Lift the medium bottle for beverages with the left arm and shake it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Hold the cylindrical bottle, shake it briefly.", + "With the left arm, pick the blue bottle and shake properly.", + "Secure the handheld bottle and perform a shake.", + "Hold and shake the the medium bottle for beverages carefully.", + "Pick up the blue bottle and shake it.", + "Secure the handheld bottle, shake it, and place it down.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Utilize the left arm to hold the blue bottle with label and shake it.", + "Grab the medium-sized bottle using the left arm, then shake.", + "Pick the cylindrical bottle, shake it with the left arm.", + "Grab the bottle for liquids and shake it steadily.", + "Hold the medium bottle for beverages steady, then shake it.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Shake the handheld bottle after lifting it.", + "Grab the medium-sized bottle and move it to shake.", + "Catch the blue bottle and shake it instantly.", + "Pick up the white bottle with blue accents and shake it well.", + "Use the left arm to pick and shake the handheld bottle.", + "Hold the medium-sized bottle and shake it properly.", + "Use the left arm to hold the white and blue bottle and shake it.", + "Lift the medium bottle for beverages and shake it gently.", + "Pick the cylindrical bottle and perform shaking motion.", + "Use the left arm to grab the white bottle with blue accents and shake it.", + "Grab the medium bottle for beverages with the left arm and shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the bottle with blue cap carefully and shake.", + "Shake the blue bottle after grabbing it.", + "Shake the blue bottle with label after grabbing it.", + "Pick the cylindrical bottle up using the left arm and shake it.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Hold the handheld bottle with the left arm and shake lightly.", + "Shake the the blue bottle properly after lifting.", + "Use the left arm to grab the bottle with blue cap and shake properly.", + "Grab the medium bottle for beverages and give it a shake.", + "Shake the bottle for liquids after grabbing it.", + "Grab and shake the bottle with blue cap using the left arm.", + "Lift the blue bottle with label with the left arm and shake.", + "Shake the handheld bottle after holding it firmly.", + "Lift up the bottle with blue cap using the left arm, then shake.", + "Lift the blue bottle with the left arm and give it a shake.", + "Grip the blue bottle with label using the left arm and shake.", + "Shake the white and blue bottle using the left arm after grabbing.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with blue cap.", + "Take the handheld bottle using the left arm and give it a shake.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Use the left arm to lift and shake the blue bottle with label.", + "Shake the handheld bottle firmly after grabbing.", + "Hold the white bottle with blue accents, shake it briefly.", + "With the left arm, pick the blue bottle with label and shake properly.", + "Secure the white bottle with blue accents and perform a shake.", + "Hold and shake the the medium-sized bottle carefully.", + "Pick up the white and blue bottle and shake it.", + "Secure the handheld bottle, shake it, and place it down.", + "Use the left arm to lift and shake the blue bottle with label.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Lift the blue bottle with label and shake it thoroughly.", + "Utilize the left arm to hold the bottle with blue cap and shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Pick the medium bottle for beverages, shake it with the left arm.", + "Grab the medium bottle for beverages and shake it steadily.", + "Hold the medium-sized bottle steady, then shake it.", + "Pick the bottle for liquids up with the left arm and shake.", + "Shake the bottle with blue cap after lifting it.", + "Grab the white and blue bottle and move it to shake.", + "Catch the medium-sized bottle and shake it instantly.", + "Pick up the plastic bottle and shake it well.", + "Use the left arm to pick and shake the bottle with blue cap.", + "Hold the cylindrical bottle and shake it properly.", + "Use the left arm to hold the blue bottle and shake it.", + "Lift the medium-sized bottle and shake it gently.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Use the left arm to grab the bottle with blue cap and shake it.", + "Grab the white bottle with blue accents with the left arm and shake.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Grab the white bottle with blue accents carefully and shake.", + "Shake the plastic bottle after grabbing it.", + "Shake the cylindrical bottle after grabbing it.", + "Pick the handheld bottle up using the left arm and shake it.", + "Grasp the white bottle with blue accents with the left arm and shake it.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Shake the the medium bottle for beverages properly after lifting.", + "Use the left arm to grab the medium bottle for beverages and shake properly.", + "Grab the white bottle with blue accents and give it a shake.", + "Shake the blue bottle with label after grabbing it.", + "Grab and shake the cylindrical bottle using the left arm.", + "Lift the handheld bottle with the left arm and shake.", + "Shake the blue bottle after holding it firmly.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Lift the handheld bottle with the left arm and give it a shake.", + "Grip the blue bottle with label using the left arm and shake.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the white bottle with blue accents." + ], + "unseen": [ + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode330.json b/shake_bottle/ur5_randomized_500/instructions/episode330.json new file mode 100644 index 0000000000000000000000000000000000000000..19e4a5178391bd64500b5e55ab257196db7b4107 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode330.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the cylindrical orange and white bottle, shake it briefly.", + "Shake the yellow label bottle after lifting it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Shake the bottle with ribbed orange bottom firmly after grabbing.", + "Grip the bottle with orange cap using the left arm and shake.", + "Hold and shake the the bottle with orange cap carefully.", + "Pick up the cylindrical orange and white bottle and shake it well.", + "Shake the medium bottle with orange lid using the left arm after grabbing.", + "Catch the cylindrical orange and white bottle and shake it instantly.", + "Lift the medium bottle with orange lid and shake it thoroughly.", + "Utilize the left arm to hold the medium bottle with orange lid and shake it.", + "Grab the bottle with orange cap and move it to shake.", + "Shake the medium bottle with orange lid after grabbing it.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Hold the yellow label bottle with the left arm and shake lightly.", + "Shake the the cylindrical orange and white bottle properly after lifting.", + "Lift up the medium orange bottle using the left arm, then shake.", + "Grab the drinking bottle with yellow label and shake it steadily.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Lift the medium bottle with orange lid with the left arm and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Hold the bottle with orange cap and shake it properly.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Shake the medium bottle with orange lid after grabbing it.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Grab the plastic bottle with the left arm and shake.", + "Use the left arm to pick and shake the white and orange plastic bottle.", + "Shake the orange and white bottle with cap after grabbing it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Use the left arm to grab the medium bottle with orange lid and shake properly.", + "Use the left arm to hold the bottle with ribbed orange bottom and shake it.", + "Grasp the medium bottle with orange lid with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Pick up the smooth plastic bottle and shake it.", + "Grab the bottle with orange cap firmly, shake it, and put it down.", + "Use the left arm to lift and shake the yellow label bottle.", + "With the left arm, pick the bottle with ribbed orange bottom and shake properly.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Pick the orange and white bottle with cap up with the left arm and shake.", + "Grab the yellow label bottle carefully and shake.", + "Secure the medium bottle with orange lid and perform a shake.", + "Secure the bottle with ribbed orange bottom, shake it, and place it down.", + "Pick the cylindrical orange and white bottle up using the left arm and shake it.", + "Pick the orange bottle, shake it with the left arm.", + "Pick the bottle with orange cap and perform shaking motion.", + "Lift the orange and white bottle with cap and shake it gently.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Grab and shake the plastic bottle using the left arm.", + "Hold the medium orange bottle steady, then shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the yellow label bottle, shake it briefly.", + "Shake the yellow label bottle after lifting it.", + "Use the left arm to grab the bottle with ribbed orange bottom and shake it.", + "Shake the bottle with orange cap firmly after grabbing.", + "Grip the medium bottle with orange lid using the left arm and shake.", + "Hold and shake the the white and orange plastic bottle carefully.", + "Pick up the plastic bottle and shake it well.", + "Shake the drinking bottle with yellow label using the left arm after grabbing.", + "Catch the yellow label bottle and shake it instantly.", + "Lift the orange bottle and shake it thoroughly.", + "Utilize the left arm to hold the cylindrical orange and white bottle and shake it.", + "Grab the plastic bottle and move it to shake.", + "Shake the medium bottle with orange lid after grabbing it.", + "Using the left arm, shake the orange bottle and then place it back.", + "Hold the medium bottle with orange lid with the left arm and shake lightly.", + "Shake the the drinking bottle with yellow label properly after lifting.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Grab the orange and white bottle with cap and shake it steadily.", + "Grab the orange and white bottle with cap using the left arm, then shake.", + "Lift the medium orange bottle with the left arm and shake it.", + "Shake the drinking bottle with yellow label after holding it firmly.", + "Hold the yellow label bottle and shake it properly.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Lift the white and orange plastic bottle with the left arm and shake.", + "Grab the bottle with orange cap with the left arm and shake.", + "Use the left arm to pick and shake the bottle with orange cap.", + "Shake the orange and white bottle with cap after grabbing it.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Use the left arm to hold the bottle with ribbed orange bottom and shake it.", + "Grasp the cylindrical orange and white bottle with the left arm and shake it.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Pick up the plastic bottle and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Grab the medium bottle with orange lid and give it a shake.", + "Pick the bottle with orange cap up with the left arm and shake.", + "Grab the white and orange plastic bottle carefully and shake.", + "Secure the orange and white bottle with cap and perform a shake.", + "Secure the cylindrical orange and white bottle, shake it, and place it down.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Pick the orange bottle, shake it with the left arm.", + "Pick the drinking bottle with yellow label and perform shaking motion.", + "Lift the orange and white bottle with cap and shake it gently.", + "Lift the medium bottle with orange lid with the left arm and give it a shake.", + "Grab and shake the orange and white bottle with cap using the left arm.", + "Hold the orange bottle steady, then shake it." + ], + "unseen": [ + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode331.json b/shake_bottle/ur5_randomized_500/instructions/episode331.json new file mode 100644 index 0000000000000000000000000000000000000000..f863d07383d3fea62dd627c6484cb8a58a20cf0c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode331.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle for liquids and give it a shake.", + "Pick the bottle with printed label up using the right arm and shake it.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Hold the plastic bottle steady, then shake it.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Shake the orange cylindrical bottle after lifting it.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Catch the bottle with yellow cap and shake it instantly.", + "Secure the bottle for liquids and perform a shake.", + "Lift the medium-sized orange bottle with the right arm and give it a shake.", + "Grab the bottle for liquids carefully and shake.", + "Shake the plastic bottle with sealed yellow cap after holding it firmly.", + "Hold the bottle with yellow cap and shake it properly.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Pick up the orange bottle and shake it well.", + "Lift up the bottle with narrow neck using the right arm, then shake.", + "Hold the bottle for liquids, shake it briefly.", + "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Pick the bottle with narrow neck, shake it with the right arm.", + "Utilize the right arm to hold the medium-sized orange bottle and shake it.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Using the right arm, shake the orange cylindrical bottle and then place it back.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Grip the bottle with narrow neck using the right arm and shake.", + "Lift the orange cylindrical bottle with the right arm and shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Hold the medium-sized orange bottle with the right arm and shake lightly.", + "Lift the orange cylindrical bottle and shake it gently.", + "Grab the bottle for liquids and shake it steadily.", + "Use the right arm to hold the plastic bottle and shake it.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Shake the the bottle with narrow neck properly after lifting.", + "Shake the orange bottle thoroughly after grabbing it.", + "Grasp the bottle with printed label with the right arm and shake it.", + "Grab the orange bottle using the right arm, then shake.", + "With the right arm, pick the bottle with printed label and shake properly.", + "Hold and shake the the orange cylindrical bottle carefully.", + "Pick the bottle for liquids up with the right arm and shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the yellow-capped plastic bottle using the right arm after grabbing.", + "Shake the medium-sized orange bottle after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the right arm to grab the orange cylindrical bottle and shake properly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Grab and shake the orange bottle using the right arm.", + "Grab the orange cylindrical bottle with the right arm and shake.", + "Take the bottle for liquids using the right arm and give it a shake.", + "Grab the bottle for liquids and give it a shake.", + "Pick the cylindrical orange bottle with yellow top up using the right arm and shake it.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Hold the orange cylindrical bottle steady, then shake it.", + "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.", + "Shake the medium-sized orange bottle after lifting it.", + "Pick the cylindrical orange bottle with yellow top and perform shaking motion.", + "Catch the bottle with narrow neck and shake it instantly.", + "Secure the bottle with narrow neck and perform a shake.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Grab the bottle with narrow neck carefully and shake.", + "Shake the bottle with narrow neck after holding it firmly.", + "Hold the bottle with yellow cap and shake it properly.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Use the right arm to pick and shake the yellow-capped plastic bottle.", + "Pick up the medium-sized orange bottle and shake it well.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Hold the medium-sized orange bottle, shake it briefly.", + "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.", + "Pick up the orange bottle and shake it.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Utilize the right arm to hold the orange cylindrical bottle and shake it.", + "Grab the bottle with printed label firmly, shake it, and put it down.", + "Using the right arm, shake the orange bottle and then place it back.", + "Grab the smooth plastic bottle and move it to shake.", + "Grip the plastic bottle using the right arm and shake.", + "Lift the cylindrical orange bottle with yellow top with the right arm and shake.", + "Lift the orange bottle with the right arm and shake it.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Lift the plastic bottle and shake it gently.", + "Grab the cylindrical orange bottle with yellow top and shake it steadily.", + "Use the right arm to hold the orange bottle and shake it.", + "Shake the bottle with narrow neck firmly after grabbing.", + "Shake the the bottle with narrow neck properly after lifting.", + "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.", + "Grasp the medium-sized orange bottle with the right arm and shake it.", + "Grab the bottle with yellow cap using the right arm, then shake.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Hold and shake the the bottle with printed label carefully.", + "Pick the plastic bottle up with the right arm and shake.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.", + "Shake the bottle with narrow neck after grabbing it.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Grab and shake the plastic bottle with sealed yellow cap using the right arm.", + "Grab the bottle with narrow neck with the right arm and shake.", + "Take the smooth plastic bottle using the right arm and give it a shake." + ], + "unseen": [ + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode332.json b/shake_bottle/ur5_randomized_500/instructions/episode332.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3dd69b525d863e0e4d1cb83e3c135708ee448f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode332.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the orange bottle firmly after grabbing.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Hold the bottle for liquids, shake it briefly.", + "Shake the the orange cylindrical bottle properly after lifting.", + "Pick up the bottle with printed label and shake it.", + "Lift the bottle with narrow neck and shake it thoroughly.", + "Grab the bottle with narrow neck with the right arm and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the medium-sized orange bottle up with the right arm and shake.", + "Shake the orange cylindrical bottle after grabbing it.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Pick the bottle with printed label up using the right arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Lift the bottle with printed label with the right arm and give it a shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Hold the orange cylindrical bottle and shake it properly.", + "Use the right arm to pick and shake the cylindrical orange bottle with yellow top.", + "Grab the orange bottle and shake it steadily.", + "Use the right arm to lift and shake the bottle with printed label.", + "Lift the plastic bottle and shake it gently.", + "With the right arm, pick the plastic bottle and shake properly.", + "Use the right arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Shake the bottle for liquids after holding it firmly.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Secure the bottle with narrow neck and perform a shake.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Use the right arm to grab the plastic bottle with sealed yellow cap and shake it.", + "Grab the yellow-capped plastic bottle carefully and shake.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Take the cylindrical orange bottle with yellow top using the right arm and give it a shake.", + "Pick the plastic bottle with sealed yellow cap, shake it with the right arm.", + "Lift the orange bottle with the right arm and shake.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Use the right arm to grab the bottle with printed label and shake properly.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Lift the orange cylindrical bottle with the right arm and shake it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Grip the plastic bottle using the right arm and shake.", + "Hold and shake the the bottle for liquids carefully.", + "Grasp the orange cylindrical bottle with the right arm and shake it.", + "Grab and shake the orange bottle using the right arm.", + "Lift up the medium-sized orange bottle using the right arm, then shake.", + "Catch the bottle with yellow cap and shake it instantly.", + "Shake the orange bottle using the right arm after grabbing.", + "Pick up the yellow-capped plastic bottle and shake it well.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Shake the plastic bottle after lifting it.", + "Shake the bottle for liquids firmly after grabbing.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Hold the bottle with yellow cap, shake it briefly.", + "Shake the the bottle with yellow cap properly after lifting.", + "Pick up the yellow-capped plastic bottle and shake it.", + "Lift the yellow-capped plastic bottle and shake it thoroughly.", + "Grab the bottle for liquids with the right arm and shake.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Pick the orange cylindrical bottle up with the right arm and shake.", + "Shake the bottle with printed label after grabbing it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the yellow-capped plastic bottle up using the right arm and shake it.", + "Grab the yellow-capped plastic bottle and give it a shake.", + "Lift the medium-sized orange bottle with the right arm and give it a shake.", + "Secure the medium-sized orange bottle, shake it, and place it down.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Use the right arm to pick and shake the orange bottle.", + "Grab the orange bottle and shake it steadily.", + "Use the right arm to lift and shake the orange bottle.", + "Lift the cylindrical orange bottle with yellow top and shake it gently.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Shake the bottle with printed label after holding it firmly.", + "Hold the orange cylindrical bottle steady, then shake it.", + "Grab the plastic bottle using the right arm, then shake.", + "Secure the plastic bottle and perform a shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Grab the orange cylindrical bottle carefully and shake.", + "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.", + "Using the right arm, shake the bottle with printed label and then place it back.", + "Take the medium-sized orange bottle using the right arm and give it a shake.", + "Pick the medium-sized orange bottle, shake it with the right arm.", + "Lift the medium-sized orange bottle with the right arm and shake.", + "Utilize the right arm to hold the medium-sized orange bottle and shake it.", + "Hold the medium-sized orange bottle with the right arm and shake lightly.", + "Use the right arm to grab the orange bottle and shake properly.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Lift the orange cylindrical bottle with the right arm and shake it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Grip the orange bottle using the right arm and shake.", + "Hold and shake the the yellow-capped plastic bottle carefully.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Grab and shake the orange bottle using the right arm.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Catch the bottle with yellow cap and shake it instantly.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Pick up the bottle for liquids and shake it well.", + "Grab the yellow-capped plastic bottle and move it to shake.", + "Shake the orange cylindrical bottle after lifting it." + ], + "unseen": [ + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick and shake the the handheld orange bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode333.json b/shake_bottle/ur5_randomized_500/instructions/episode333.json new file mode 100644 index 0000000000000000000000000000000000000000..a3240a3b9bd7802d8506bfc56094240862802230 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode333.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white and blue bottle and give it a shake.", + "Hold the bottle with blue cap with the right arm and shake lightly.", + "Grip the cylindrical bottle using the right arm and shake.", + "Hold the white bottle with blue accents, shake it briefly.", + "Take the white and blue bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the white and blue bottle.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Use the right arm to grab the blue bottle and shake properly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Grab the blue bottle and shake it steadily.", + "Use the right arm to lift and shake the white bottle with blue accents.", + "Shake the bottle for liquids after grabbing it.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Secure the medium-sized bottle and perform a shake.", + "Lift up the bottle for liquids using the right arm, then shake.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Lift the medium bottle for beverages and shake it gently.", + "Use the right arm to lift and shake the white bottle with blue accents.", + "Lift the medium-sized bottle with the right arm and shake it.", + "Hold the smooth plastic bottle and shake it properly.", + "Hold the blue bottle steady, then shake it.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the cylindrical bottle with the right arm and shake.", + "Shake the blue bottle with label firmly after grabbing.", + "Hold and shake the the white bottle with blue accents carefully.", + "Grab the blue bottle and move it to shake.", + "Shake the white bottle with blue accents after lifting it.", + "Using the right arm, shake the blue bottle with label and then place it back.", + "Shake the the white bottle with blue accents properly after lifting.", + "Pick the plastic bottle up using the right arm and shake it.", + "Pick the blue bottle with label and perform shaking motion.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Grab the bottle for liquids carefully and shake.", + "Catch the white bottle with blue accents and shake it instantly.", + "Use the right arm to hold the medium-sized bottle and shake it.", + "Grab and shake the white and blue bottle using the right arm.", + "Pick up the blue bottle and shake it.", + "Grab the cylindrical bottle using the right arm, then shake.", + "Utilize the right arm to hold the handheld bottle and shake it.", + "Lift the white bottle with blue accents and shake it thoroughly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Pick the medium-sized bottle up with the right arm and shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Pick up the blue bottle and shake it well.", + "Shake the white and blue bottle after grabbing it.", + "Shake the white and blue bottle after holding it firmly.", + "Grab the blue bottle with label and give it a shake.", + "Hold the blue bottle with label with the right arm and shake lightly.", + "Grip the medium bottle for beverages using the right arm and shake.", + "Hold the blue bottle, shake it briefly.", + "Take the cylindrical bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "With the right arm, pick the white and blue bottle and shake properly.", + "Lift the cylindrical bottle with the right arm and shake.", + "Grab the white and blue bottle and shake it steadily.", + "Use the right arm to lift and shake the bottle for liquids.", + "Shake the cylindrical bottle after grabbing it.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Pick the blue bottle with label, shake it with the right arm.", + "Secure the smooth plastic bottle and perform a shake.", + "Lift up the blue bottle with label using the right arm, then shake.", + "Shake the medium-sized bottle using the right arm after grabbing.", + "Lift the blue bottle and shake it gently.", + "Use the right arm to lift and shake the handheld bottle.", + "Lift the medium bottle for beverages with the right arm and shake it.", + "Hold the white and blue bottle and shake it properly.", + "Hold the medium-sized bottle steady, then shake it.", + "Shake the medium bottle for beverages after grabbing it.", + "Shake the blue bottle thoroughly after grabbing it.", + "Grab the medium bottle for beverages with the right arm and shake.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Hold and shake the the cylindrical bottle carefully.", + "Grab the medium bottle for beverages and move it to shake.", + "Shake the blue bottle with label after lifting it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Shake the the blue bottle properly after lifting.", + "Pick the medium-sized bottle up using the right arm and shake it.", + "Pick the bottle with blue cap and perform shaking motion.", + "Use the right arm to grab the bottle with blue cap and shake it.", + "Grab the bottle for liquids carefully and shake.", + "Catch the medium-sized bottle and shake it instantly.", + "Use the right arm to hold the medium bottle for beverages and shake it.", + "Grab and shake the cylindrical bottle using the right arm.", + "Pick up the bottle for liquids and shake it.", + "Grab the blue bottle with label using the right arm, then shake.", + "Utilize the right arm to hold the medium-sized bottle and shake it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Use the right arm to lift and shake the blue bottle with label.", + "Pick up the blue bottle with label and shake it well.", + "Shake the white bottle with blue accents after grabbing it.", + "Shake the plastic bottle after holding it firmly." + ], + "unseen": [ + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode334.json b/shake_bottle/ur5_randomized_500/instructions/episode334.json new file mode 100644 index 0000000000000000000000000000000000000000..ad3eb58dacde65b3d47dedce87a20172ddca7aec --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode334.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized bottle and give it a shake.", + "Grab the white bottle with red text and move it to shake.", + "Grab the bottle with orange screw cap with the left arm and shake.", + "Lift the smooth bottle and shake it thoroughly.", + "Shake the white cylindrical bottle after grabbing it.", + "Grab and shake the cylindrical bottle with red writing using the left arm.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grip the white bottle with red text using the left arm and shake.", + "Hold the white bottle with red text, shake it briefly.", + "Use the left arm to lift and shake the white bottle with orange lid.", + "Shake the plastic bottle after grabbing it.", + "Hold and shake the the white bottle with orange lid carefully.", + "Lift the white bottle with the left arm and shake.", + "Lift up the handheld white bottle with cap using the left arm, then shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Grab the white bottle with orange lid and shake it steadily.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Grab the medium-sized bottle using the left arm, then shake.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Shake the white cylindrical bottle using the left arm after grabbing.", + "Take the bottle with tapering neck using the left arm and give it a shake.", + "Shake the white bottle after grabbing it.", + "Grab the smooth bottle carefully and shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Hold the medium-sized bottle and shake it properly.", + "Use the left arm to lift and shake the smooth bottle.", + "Shake the white bottle with red text after lifting it.", + "Shake the cylindrical bottle with red writing after holding it firmly.", + "Pick the white bottle and perform shaking motion.", + "Use the left arm to hold the white bottle with orange lid and shake it.", + "Use the left arm to pick and shake the white bottle.", + "Shake the smooth bottle firmly after grabbing.", + "Use the left arm to grab the white bottle with orange lid and shake it.", + "Secure the cylindrical bottle with red writing, shake it, and place it down.", + "Grab the bottle with tapering neck firmly, shake it, and put it down.", + "Lift the medium-sized bottle with the left arm and shake it.", + "Pick the white cylindrical bottle up using the left arm and shake it.", + "Utilize the left arm to hold the bottle with orange screw cap and shake it.", + "Hold the handheld white bottle with cap with the left arm and shake lightly.", + "Shake the white bottle with orange lid thoroughly after grabbing it.", + "Secure the white bottle with orange lid and perform a shake.", + "Lift the handheld white bottle with cap and shake it gently.", + "Hold the white bottle steady, then shake it.", + "Catch the bottle with orange screw cap and shake it instantly.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Pick up the smooth bottle and shake it well.", + "Pick up the white bottle and shake it.", + "Shake the the smooth bottle properly after lifting.", + "Grab the plastic bottle and give it a shake.", + "Grab the bottle with orange screw cap and move it to shake.", + "Grab the white cylindrical bottle with the left arm and shake.", + "Lift the bottle with tapering neck and shake it thoroughly.", + "Shake the bottle with tapering neck after grabbing it.", + "Grab and shake the white cylindrical bottle using the left arm.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grip the smooth bottle using the left arm and shake.", + "Hold the white bottle, shake it briefly.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the bottle with tapering neck after grabbing it.", + "Hold and shake the the white bottle carefully.", + "Lift the bottle with tapering neck with the left arm and shake.", + "Lift up the bottle with tapering neck using the left arm, then shake.", + "With the left arm, pick the white bottle with red text and shake properly.", + "Pick the white bottle with red text, shake it with the left arm.", + "Grab the smooth bottle and shake it steadily.", + "Use the left arm to grab the bottle with tapering neck and shake properly.", + "Grab the white bottle with red text using the left arm, then shake.", + "Lift the bottle with orange screw cap with the left arm and give it a shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Take the white bottle using the left arm and give it a shake.", + "Shake the white bottle for liquids after grabbing it.", + "Grab the white bottle with orange lid carefully and shake.", + "Using the left arm, shake the handheld white bottle with cap and then place it back.", + "Hold the bottle with tapering neck and shake it properly.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Shake the cylindrical bottle with red writing after lifting it.", + "Shake the handheld white bottle with cap after holding it firmly.", + "Pick the bottle with tapering neck and perform shaking motion.", + "Use the left arm to hold the cylindrical bottle with red writing and shake it.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Shake the white cylindrical bottle firmly after grabbing.", + "Use the left arm to grab the plastic bottle and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the smooth bottle firmly, shake it, and put it down.", + "Lift the bottle with tapering neck with the left arm and shake it.", + "Pick the bottle with tapering neck up using the left arm and shake it.", + "Utilize the left arm to hold the white cylindrical bottle and shake it.", + "Hold the white bottle with the left arm and shake lightly.", + "Shake the bottle with tapering neck thoroughly after grabbing it.", + "Secure the white bottle for liquids and perform a shake.", + "Lift the white bottle for liquids and shake it gently.", + "Hold the bottle with orange screw cap steady, then shake it.", + "Catch the white bottle with red text and shake it instantly.", + "Pick the white bottle for liquids up with the left arm and shake.", + "Use the left arm to lift and shake the white bottle with orange lid.", + "Pick up the medium-sized bottle and shake it well.", + "Pick up the cylindrical bottle with red writing and shake it.", + "Shake the the white cylindrical bottle properly after lifting." + ], + "unseen": [ + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode335.json b/shake_bottle/ur5_randomized_500/instructions/episode335.json new file mode 100644 index 0000000000000000000000000000000000000000..469e8e564b01af654db88f110b84952837fc284d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode335.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the green bottle with indented base properly after lifting.", + "Shake the green bottle with indented base after lifting it.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Shake the handheld green bottle after grabbing it.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Grab the handheld green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Lift the bottle with white printed label and shake it gently.", + "Shake the bottle with white printed label firmly after grabbing.", + "Pick up the bottle with rounded neck and shake it well.", + "Shake the smooth green plastic bottle after grabbing it.", + "Secure the plastic bottle and perform a shake.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Grab the handheld green bottle carefully and shake.", + "Catch the bottle with narrow top and shake it instantly.", + "Grab the medium-sized green bottle and move it to shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Pick the handheld green bottle, shake it with the right arm.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Use the right arm to lift and shake the medium green bottle.", + "Hold the bottle with rounded neck, shake it briefly.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Grip the smooth green bottle using the right arm and shake.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Hold the bottle with white printed label steady, then shake it.", + "Hold and shake the the handheld green bottle carefully.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Hold the medium green bottle with the right arm and shake lightly.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Pick up the bottle with ridges near base and shake it.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Grab the bottle with white printed label and shake it steadily.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Hold the handheld green bottle and shake it properly.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Secure the smooth green bottle, shake it, and place it down.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the smooth green bottle with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab and shake the bottle with narrow top using the right arm.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Shake the bottle with narrow top after grabbing it.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Grab the handheld green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Lift the medium green bottle and shake it gently.", + "Shake the handheld green bottle firmly after grabbing.", + "Pick up the medium green bottle and shake it well.", + "Shake the handheld green bottle after grabbing it.", + "Secure the bottle with rounded neck and perform a shake.", + "Use the right arm to pick and shake the medium green bottle.", + "Grab the plastic bottle carefully and shake.", + "Catch the green bottle with indented base and shake it instantly.", + "Grab the medium green bottle and move it to shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Pick the smooth green bottle, shake it with the right arm.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Hold the bottle with rounded neck, shake it briefly.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Grip the bottle with white printed label using the right arm and shake.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Hold and shake the the bottle with rounded neck carefully.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Pick up the bottle with ridges near base and shake it.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Pick the smooth green bottle and perform shaking motion.", + "Grasp the medium green bottle with the right arm and shake it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the green bottle with indented base with the right arm and shake.", + "Grab the medium-sized green bottle and give it a shake.", + "Grab and shake the smooth green bottle using the right arm." + ], + "unseen": [ + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode336.json b/shake_bottle/ur5_randomized_500/instructions/episode336.json new file mode 100644 index 0000000000000000000000000000000000000000..95b86aab1fce7b70ece7a88baee1a86de9fb7365 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode336.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the green-capped bottle and shake it.", + "Grip the green-capped bottle using the right arm and shake.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Shake the cylindrical bottle with white label after holding it firmly.", + "Lift the plastic bottle with ribbed pattern with the right arm and shake it.", + "Shake the small drink bottle with logo after lifting it.", + "Lift the small brown plastic bottle and shake it gently.", + "Lift the small drink bottle with logo and shake it thoroughly.", + "Shake the brown bottle with white printed label after grabbing it.", + "Lift the small drink bottle with logo with the right arm and give it a shake.", + "Pick the brown bottle, shake it with the right arm.", + "Grab the brown bottle with white printed label firmly, shake it, and put it down.", + "Pick the bottle with green cap up with the right arm and shake.", + "Shake the the cylindrical bottle with white label properly after lifting.", + "Lift the small brown plastic bottle with the right arm and shake.", + "Grab and shake the hand-sized bottle with grooves using the right arm.", + "Hold the bottle with tapered cylindrical shape with the right arm and shake lightly.", + "With the right arm, pick the smooth plastic bottle for beverages and shake properly.", + "Secure the cylindrical bottle with white label and perform a shake.", + "Use the right arm to lift and shake the small drink bottle with logo.", + "Grab the small drink bottle with logo with the right arm and shake.", + "Pick the bottle with green cap up using the right arm and shake it.", + "Lift up the bottle with green cap using the right arm, then shake.", + "Shake the hand-sized bottle with grooves using the right arm after grabbing.", + "Pick the hand-sized bottle with grooves and perform shaking motion.", + "Utilize the right arm to hold the brown bottle and shake it.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Shake the green-capped bottle firmly after grabbing.", + "Catch the smooth plastic bottle for beverages and shake it instantly.", + "Grab the hand-sized bottle with grooves using the right arm, then shake.", + "Pick up the plastic bottle with ribbed pattern and shake it well.", + "Shake the brown bottle with white printed label after grabbing it.", + "Hold the brown bottle with white printed label and shake it properly.", + "Grab the bottle with green cap and give it a shake.", + "Grab the green-capped bottle and move it to shake.", + "Grasp the small brown plastic bottle with the right arm and shake it.", + "Use the right arm to lift and shake the brown bottle.", + "Shake the brown bottle after grabbing it.", + "Use the right arm to grab the small brown plastic bottle and shake properly.", + "Take the bottle with green cap using the right arm and give it a shake.", + "Using the right arm, shake the bottle with green cap and then place it back.", + "Use the right arm to pick and shake the brown bottle with green screw-on cap.", + "Hold the bottle with tapered cylindrical shape, shake it briefly.", + "Hold and shake the the green-capped bottle carefully.", + "Grab the plastic bottle with ribbed pattern carefully and shake.", + "Use the right arm to grab the brown bottle and shake it.", + "Grab the green-capped bottle and shake it steadily.", + "Hold the small drink bottle with logo steady, then shake it.", + "Secure the cylindrical bottle with white label, shake it, and place it down.", + "Use the right arm to hold the bottle with tapered cylindrical shape and shake it.", + "Grip the bottle with tapered cylindrical shape using the right arm and shake.", + "Pick up the small brown plastic bottle and shake it.", + "Shake the bottle with tapered cylindrical shape after holding it firmly.", + "Lift the smooth plastic bottle for beverages with the right arm and shake it.", + "Shake the small brown plastic bottle after lifting it.", + "Lift the brown bottle and shake it gently.", + "Lift the green-capped bottle and shake it thoroughly.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Lift the smooth plastic bottle for beverages with the right arm and give it a shake.", + "Pick the brown bottle with green screw-on cap, shake it with the right arm.", + "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.", + "Pick the plastic bottle with ribbed pattern up with the right arm and shake.", + "Shake the the small brown plastic bottle properly after lifting.", + "Lift the small drink bottle with logo with the right arm and shake.", + "Grab and shake the brown bottle with white printed label using the right arm.", + "Hold the plastic bottle with ribbed pattern with the right arm and shake lightly.", + "With the right arm, pick the bottle with green cap and shake properly.", + "Secure the green-capped bottle and perform a shake.", + "Use the right arm to lift and shake the bottle with green cap.", + "Grab the brown bottle with green screw-on cap with the right arm and shake.", + "Pick the smooth plastic bottle for beverages up using the right arm and shake it.", + "Lift up the plastic bottle with ribbed pattern using the right arm, then shake.", + "Shake the hand-sized bottle with grooves using the right arm after grabbing.", + "Pick the bottle with tapered cylindrical shape and perform shaking motion.", + "Utilize the right arm to hold the small brown plastic bottle and shake it.", + "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with green cap.", + "Shake the plastic bottle with ribbed pattern firmly after grabbing.", + "Catch the cylindrical bottle with white label and shake it instantly.", + "Grab the plastic bottle with ribbed pattern using the right arm, then shake.", + "Pick up the plastic bottle with ribbed pattern and shake it well.", + "Shake the small brown plastic bottle after grabbing it.", + "Hold the plastic bottle with ribbed pattern and shake it properly.", + "Grab the small brown plastic bottle and give it a shake.", + "Grab the small drink bottle with logo and move it to shake.", + "Grasp the small drink bottle with logo with the right arm and shake it.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Use the right arm to grab the cylindrical bottle with white label and shake properly.", + "Take the smooth plastic bottle for beverages using the right arm and give it a shake.", + "Using the right arm, shake the cylindrical bottle with white label and then place it back.", + "Use the right arm to pick and shake the brown bottle.", + "Hold the cylindrical bottle with white label, shake it briefly.", + "Hold and shake the the plastic bottle with ribbed pattern carefully.", + "Grab the small brown plastic bottle carefully and shake.", + "Use the right arm to grab the green-capped bottle and shake it.", + "Grab the brown bottle and shake it steadily.", + "Hold the smooth plastic bottle for beverages steady, then shake it.", + "Secure the brown bottle with white printed label, shake it, and place it down." + ], + "unseen": [ + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode337.json b/shake_bottle/ur5_randomized_500/instructions/episode337.json new file mode 100644 index 0000000000000000000000000000000000000000..dc28e47cd0e922be463ee266270f467b50c370ff --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode337.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the cylindrical bottle with white label using the right arm after grabbing.", + "Grasp the small drink bottle with logo with the right arm and shake it.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Grip the green-capped bottle using the right arm and shake.", + "Shake the hand-sized bottle with grooves firmly after grabbing.", + "Hold the bottle with green cap, shake it briefly.", + "Lift up the small brown plastic bottle using the right arm, then shake.", + "Shake the bottle with green cap after holding it firmly.", + "Grab and shake the bottle with green cap using the right arm.", + "Use the right arm to grab the cylindrical bottle with white label and shake it.", + "Shake the bottle with tapered cylindrical shape thoroughly after grabbing it.", + "Lift the cylindrical bottle with white label with the right arm and give it a shake.", + "With the right arm, pick the small drink bottle with logo and shake properly.", + "Hold the green-capped bottle with the right arm and shake lightly.", + "Lift the brown bottle with white printed label with the right arm and shake it.", + "Using the right arm, shake the smooth plastic bottle for beverages and then place it back.", + "Grab the plastic bottle with ribbed pattern and give it a shake.", + "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.", + "Utilize the right arm to hold the brown bottle and shake it.", + "Grab the smooth plastic bottle for beverages using the right arm, then shake.", + "Hold the smooth plastic bottle for beverages steady, then shake it.", + "Shake the small drink bottle with logo after lifting it.", + "Grab the brown bottle with green screw-on cap with the right arm and shake.", + "Lift the brown bottle and shake it gently.", + "Secure the cylindrical bottle with white label and perform a shake.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Hold and shake the the bottle with green cap carefully.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Use the right arm to hold the small brown plastic bottle and shake it.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Use the right arm to pick and shake the bottle with tapered cylindrical shape.", + "Shake the the bottle with green cap properly after lifting.", + "Pick the green-capped bottle up using the right arm and shake it.", + "Secure the bottle with green cap, shake it, and place it down.", + "Pick up the brown bottle and shake it well.", + "Take the brown bottle with green screw-on cap using the right arm and give it a shake.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Pick the hand-sized bottle with grooves up with the right arm and shake.", + "Use the right arm to lift and shake the plastic bottle with ribbed pattern.", + "Pick the plastic bottle with ribbed pattern, shake it with the right arm.", + "Hold the small brown plastic bottle and shake it properly.", + "Use the right arm to grab the smooth plastic bottle for beverages and shake properly.", + "Pick the brown bottle with white printed label and perform shaking motion.", + "Catch the brown bottle with green screw-on cap and shake it instantly.", + "Lift the smooth plastic bottle for beverages with the right arm and shake.", + "Lift the hand-sized bottle with grooves and shake it thoroughly.", + "Grab the bottle with green cap and shake it steadily.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Grab the plastic bottle with ribbed pattern and move it to shake.", + "Shake the smooth plastic bottle for beverages using the right arm after grabbing.", + "Grasp the bottle with tapered cylindrical shape with the right arm and shake it.", + "Use the right arm to lift and shake the brown bottle with green screw-on cap.", + "Grip the bottle with tapered cylindrical shape using the right arm and shake.", + "Shake the green-capped bottle firmly after grabbing.", + "Hold the brown bottle, shake it briefly.", + "Lift up the green-capped bottle using the right arm, then shake.", + "Shake the cylindrical bottle with white label after holding it firmly.", + "Grab and shake the hand-sized bottle with grooves using the right arm.", + "Use the right arm to grab the brown bottle and shake it.", + "Shake the brown bottle thoroughly after grabbing it.", + "Lift the smooth plastic bottle for beverages with the right arm and give it a shake.", + "With the right arm, pick the green-capped bottle and shake properly.", + "Hold the cylindrical bottle with white label with the right arm and shake lightly.", + "Lift the hand-sized bottle with grooves with the right arm and shake it.", + "Using the right arm, shake the bottle with tapered cylindrical shape and then place it back.", + "Grab the brown bottle with green screw-on cap and give it a shake.", + "Grab the small brown plastic bottle firmly, shake it, and put it down.", + "Utilize the right arm to hold the small drink bottle with logo and shake it.", + "Grab the small drink bottle with logo using the right arm, then shake.", + "Hold the bottle with tapered cylindrical shape steady, then shake it.", + "Shake the hand-sized bottle with grooves after lifting it.", + "Grab the brown bottle with white printed label with the right arm and shake.", + "Lift the small drink bottle with logo and shake it gently.", + "Secure the brown bottle and perform a shake.", + "Grab the hand-sized bottle with grooves carefully and shake.", + "Hold and shake the the small drink bottle with logo carefully.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Use the right arm to hold the brown bottle with green screw-on cap and shake it.", + "Use the right arm to lift and shake the bottle with green cap.", + "Use the right arm to pick and shake the brown bottle with green screw-on cap.", + "Shake the the brown bottle properly after lifting.", + "Pick the cylindrical bottle with white label up using the right arm and shake it.", + "Secure the small drink bottle with logo, shake it, and place it down.", + "Pick up the green-capped bottle and shake it well.", + "Take the brown bottle using the right arm and give it a shake.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Pick the bottle with tapered cylindrical shape up with the right arm and shake.", + "Use the right arm to lift and shake the small drink bottle with logo.", + "Pick the brown bottle with white printed label, shake it with the right arm.", + "Hold the brown bottle with white printed label and shake it properly.", + "Use the right arm to grab the plastic bottle with ribbed pattern and shake properly.", + "Pick the hand-sized bottle with grooves and perform shaking motion.", + "Catch the cylindrical bottle with white label and shake it instantly.", + "Lift the brown bottle with green screw-on cap with the right arm and shake.", + "Lift the brown bottle with white printed label and shake it thoroughly.", + "Grab the bottle with green cap and shake it steadily.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Grab the bottle with tapered cylindrical shape and move it to shake." + ], + "unseen": [ + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode338.json b/shake_bottle/ur5_randomized_500/instructions/episode338.json new file mode 100644 index 0000000000000000000000000000000000000000..60674d5271e5b4df7d2d60dbe4fce09de5ae642b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode338.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Pick the plastic bottle, shake it with the left arm.", + "Secure the round-bottom bottle with white cap, shake it, and place it down.", + "Lift the orange bottle with the left arm and shake.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Shake the medium bottle with colorful label thoroughly after grabbing it.", + "Use the left arm to hold the curved orange soda bottle and shake it.", + "Take the grooved orange drink bottle using the left arm and give it a shake.", + "Shake the smooth orange bottle firmly after grabbing.", + "Pick the curved orange soda bottle up with the left arm and shake.", + "Lift up the ridged orange bottle with grooves using the left arm, then shake.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Grab the medium bottle with colorful label and move it to shake.", + "Hold the curved orange soda bottle steady, then shake it.", + "With the left arm, pick the bottle for holding drinks and shake properly.", + "Use the left arm to lift and shake the orange bottle.", + "Shake the medium bottle with colorful label using the left arm after grabbing.", + "Pick up the medium bottle with colorful label and shake it.", + "Hold the light and medium-sized bottle, shake it briefly.", + "Use the left arm to grab the light and medium-sized bottle and shake it.", + "Grab and shake the medium bottle with colorful label using the left arm.", + "Lift the orange drink bottle with label and shake it gently.", + "Pick the orange bottle up using the left arm and shake it.", + "Secure the light and medium-sized bottle and perform a shake.", + "Pick the ridged orange bottle with grooves and perform shaking motion.", + "Use the left arm to pick and shake the grooved orange drink bottle.", + "Grab the orange bottle with the left arm and shake.", + "Grab the orange bottle carefully and shake.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Grip the smooth orange bottle using the left arm and shake.", + "Pick up the medium bottle with colorful label and shake it well.", + "Shake the cylindrical orange plastic bottle after lifting it.", + "Lift the light and medium-sized bottle with the left arm and give it a shake.", + "Lift the curved orange soda bottle and shake it thoroughly.", + "Grasp the bottle for holding drinks with the left arm and shake it.", + "Hold the cylindrical orange plastic bottle with the left arm and shake lightly.", + "Grab the orange drink bottle with label using the left arm, then shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Shake the the grooved orange drink bottle properly after lifting.", + "Using the left arm, shake the orange drink bottle with label and then place it back.", + "Hold the orange bottle and shake it properly.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Hold and shake the the cylindrical orange plastic bottle carefully.", + "Grab the grooved orange drink bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Pick the orange drink bottle with label, shake it with the left arm.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Lift the light and medium-sized bottle with the left arm and shake.", + "Shake the medium bottle with colorful label after holding it firmly.", + "Shake the ridged orange bottle with grooves thoroughly after grabbing it.", + "Use the left arm to hold the smooth orange bottle and shake it.", + "Take the smooth orange bottle using the left arm and give it a shake.", + "Shake the smooth orange bottle firmly after grabbing.", + "Pick the orange bottle up with the left arm and shake.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Shake the medium bottle with colorful label after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Hold the bottle for holding drinks steady, then shake it.", + "With the left arm, pick the bottle for holding drinks and shake properly.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Shake the ridged orange bottle with grooves using the left arm after grabbing.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Hold the orange bottle, shake it briefly.", + "Use the left arm to grab the orange bottle and shake it.", + "Grab and shake the round-bottom bottle with white cap using the left arm.", + "Lift the plastic bottle and shake it gently.", + "Pick the medium bottle with colorful label up using the left arm and shake it.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Pick the curved orange soda bottle and perform shaking motion.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the cylindrical orange plastic bottle with the left arm and shake.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Catch the medium bottle with colorful label and shake it instantly.", + "Grip the ridged orange bottle with grooves using the left arm and shake.", + "Pick up the round-bottom bottle with white cap and shake it well.", + "Shake the orange drink bottle with label after lifting it.", + "Lift the medium bottle with colorful label with the left arm and give it a shake.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Grasp the orange bottle with the left arm and shake it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift the orange bottle with the left arm and shake it.", + "Grab the grooved orange drink bottle and give it a shake.", + "Grab the curved orange soda bottle and shake it steadily.", + "Shake the grooved orange drink bottle after grabbing it.", + "Shake the the orange drink bottle with label properly after lifting.", + "Using the left arm, shake the light and medium-sized bottle and then place it back.", + "Hold the medium bottle with colorful label and shake it properly.", + "Shake the medium bottle with colorful label after grabbing it.", + "Use the left arm to lift and shake the orange bottle.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Hold and shake the the grooved orange drink bottle carefully." + ], + "unseen": [ + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode339.json b/shake_bottle/ur5_randomized_500/instructions/episode339.json new file mode 100644 index 0000000000000000000000000000000000000000..6c9d81a78ba5705e07a4824ab31739c492fda38c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode339.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the hand-sized bottle with grooves firmly after grabbing.", + "Secure the plastic bottle with ribbed pattern and perform a shake.", + "Use the right arm to pick and shake the brown bottle.", + "Hold the small drink bottle with logo, shake it briefly.", + "Grab the bottle with tapered cylindrical shape firmly, shake it, and put it down.", + "Shake the brown bottle with white printed label using the right arm after grabbing.", + "Pick the smooth plastic bottle for beverages up using the right arm and shake it.", + "Hold and shake the the bottle with tapered cylindrical shape carefully.", + "Grab and shake the small brown plastic bottle using the right arm.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Grab the hand-sized bottle with grooves with the right arm and shake.", + "Pick up the bottle with green cap and shake it.", + "Grab the plastic bottle with ribbed pattern carefully and shake.", + "Shake the small brown plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the plastic bottle with ribbed pattern and shake properly.", + "Grab the bottle with tapered cylindrical shape using the right arm, then shake.", + "Lift the brown bottle with green screw-on cap and shake it thoroughly.", + "Pick the smooth plastic bottle for beverages and perform shaking motion.", + "Lift the cylindrical bottle with white label with the right arm and shake it.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Lift up the small drink bottle with logo using the right arm, then shake.", + "Hold the brown bottle with white printed label steady, then shake it.", + "Use the right arm to lift and shake the brown bottle.", + "Utilize the right arm to hold the brown bottle with white printed label and shake it.", + "Shake the bottle with green cap after grabbing it.", + "Shake the green-capped bottle after grabbing it.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Lift the bottle with tapered cylindrical shape with the right arm and give it a shake.", + "Shake the the hand-sized bottle with grooves properly after lifting.", + "Grip the small drink bottle with logo using the right arm and shake.", + "Grab the hand-sized bottle with grooves and give it a shake.", + "Grab the brown bottle and move it to shake.", + "Pick the plastic bottle with ribbed pattern up with the right arm and shake.", + "Pick up the cylindrical bottle with white label and shake it well.", + "Using the right arm, shake the hand-sized bottle with grooves and then place it back.", + "Take the bottle with green cap using the right arm and give it a shake.", + "Lift the green-capped bottle with the right arm and shake.", + "With the right arm, pick the green-capped bottle and shake properly.", + "Shake the small drink bottle with logo after holding it firmly.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "Pick the plastic bottle with ribbed pattern, shake it with the right arm.", + "Lift the small drink bottle with logo and shake it gently.", + "Secure the bottle with green cap, shake it, and place it down.", + "Hold the hand-sized bottle with grooves with the right arm and shake lightly.", + "Shake the bottle with tapered cylindrical shape after lifting it.", + "Grab the hand-sized bottle with grooves and shake it steadily.", + "Use the right arm to lift and shake the hand-sized bottle with grooves.", + "Use the right arm to grab the bottle with green cap and shake it.", + "Grasp the small drink bottle with logo with the right arm and shake it.", + "Catch the brown bottle with white printed label and shake it instantly.", + "Shake the brown bottle with white printed label firmly after grabbing.", + "Secure the bottle with green cap and perform a shake.", + "Use the right arm to pick and shake the green-capped bottle.", + "Hold the bottle with tapered cylindrical shape, shake it briefly.", + "Grab the hand-sized bottle with grooves firmly, shake it, and put it down.", + "Shake the smooth plastic bottle for beverages using the right arm after grabbing.", + "Pick the hand-sized bottle with grooves up using the right arm and shake it.", + "Hold and shake the the hand-sized bottle with grooves carefully.", + "Grab and shake the bottle with tapered cylindrical shape using the right arm.", + "Use the right arm to lift and shake the brown bottle.", + "Grab the brown bottle with the right arm and shake.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Grab the smooth plastic bottle for beverages carefully and shake.", + "Shake the small brown plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the bottle with tapered cylindrical shape and shake properly.", + "Grab the small drink bottle with logo using the right arm, then shake.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Pick the small drink bottle with logo and perform shaking motion.", + "Lift the brown bottle with green screw-on cap with the right arm and shake it.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Lift up the hand-sized bottle with grooves using the right arm, then shake.", + "Hold the cylindrical bottle with white label steady, then shake it.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Utilize the right arm to hold the green-capped bottle and shake it.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Use the right arm to hold the brown bottle with green screw-on cap and shake it.", + "Lift the small brown plastic bottle with the right arm and give it a shake.", + "Shake the the cylindrical bottle with white label properly after lifting.", + "Grip the green-capped bottle using the right arm and shake.", + "Grab the plastic bottle with ribbed pattern and give it a shake.", + "Grab the brown bottle and move it to shake.", + "Pick the brown bottle with green screw-on cap up with the right arm and shake.", + "Pick up the plastic bottle with ribbed pattern and shake it well.", + "Using the right arm, shake the brown bottle with green screw-on cap and then place it back.", + "Take the cylindrical bottle with white label using the right arm and give it a shake.", + "Lift the plastic bottle with ribbed pattern with the right arm and shake.", + "With the right arm, pick the plastic bottle with ribbed pattern and shake properly.", + "Shake the small brown plastic bottle after holding it firmly.", + "Hold the green-capped bottle and shake it properly.", + "Pick the bottle with tapered cylindrical shape, shake it with the right arm.", + "Lift the brown bottle with white printed label and shake it gently.", + "Secure the small drink bottle with logo, shake it, and place it down.", + "Hold the green-capped bottle with the right arm and shake lightly.", + "Shake the cylindrical bottle with white label after lifting it.", + "Grab the green-capped bottle and shake it steadily.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Use the right arm to grab the cylindrical bottle with white label and shake it.", + "Grasp the plastic bottle with ribbed pattern with the right arm and shake it.", + "Catch the plastic bottle with ribbed pattern and shake it instantly." + ], + "unseen": [ + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode34.json b/shake_bottle/ur5_randomized_500/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..317d77a3f873e54f61d96dd1d4993542bd9c6cfc --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the white bottle for liquids and shake properly.", + "Grab the cylindrical bottle with red writing carefully and shake.", + "With the right arm, pick the handheld white bottle with cap and shake properly.", + "Grab the white bottle with orange lid and shake it steadily.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the handheld white bottle with cap after grabbing it.", + "Pick up the bottle with orange screw cap and shake it well.", + "Lift up the white bottle using the right arm, then shake.", + "Hold and shake the the white cylindrical bottle carefully.", + "Grab the smooth bottle with the right arm and shake.", + "Hold the white bottle with orange lid with the right arm and shake lightly.", + "Use the right arm to grab the white bottle with orange lid and shake it.", + "Pick the smooth bottle and perform shaking motion.", + "Grip the medium-sized bottle using the right arm and shake.", + "Shake the cylindrical bottle with red writing thoroughly after grabbing it.", + "Pick the white bottle for liquids up with the right arm and shake.", + "Shake the white cylindrical bottle after lifting it.", + "Shake the white bottle with orange lid after grabbing it.", + "Catch the white cylindrical bottle and shake it instantly.", + "Use the right arm to hold the white bottle with orange lid and shake it.", + "Grab the white cylindrical bottle and move it to shake.", + "Grab the smooth bottle and give it a shake.", + "Shake the white cylindrical bottle after grabbing it.", + "Grasp the white cylindrical bottle with the right arm and shake it.", + "Secure the white bottle with orange lid, shake it, and place it down.", + "Lift the white bottle with orange lid with the right arm and shake.", + "Take the bottle with tapering neck using the right arm and give it a shake.", + "Pick up the handheld white bottle with cap and shake it.", + "Utilize the right arm to hold the white bottle with orange lid and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Lift the white cylindrical bottle with the right arm and shake it.", + "Lift the medium-sized bottle with the right arm and give it a shake.", + "Grab the white cylindrical bottle using the right arm, then shake.", + "Use the right arm to pick and shake the white bottle for liquids.", + "Secure the white cylindrical bottle and perform a shake.", + "Shake the white bottle firmly after grabbing.", + "Shake the the white bottle for liquids properly after lifting.", + "Use the right arm to lift and shake the white bottle for liquids.", + "Grab and shake the bottle with orange screw cap using the right arm.", + "Lift the plastic bottle and shake it thoroughly.", + "Using the right arm, shake the bottle with orange screw cap and then place it back.", + "Pick the cylindrical bottle with red writing, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with tapering neck.", + "Lift the bottle with orange screw cap and shake it gently.", + "Use the right arm to lift and shake the white bottle for liquids.", + "Hold the plastic bottle, shake it briefly.", + "Pick the cylindrical bottle with red writing up using the right arm and shake it.", + "Shake the cylindrical bottle with red writing using the right arm after grabbing.", + "Hold the plastic bottle steady, then shake it.", + "Hold the white bottle for liquids and shake it properly.", + "Use the right arm to grab the smooth bottle and shake properly.", + "Grab the plastic bottle carefully and shake.", + "With the right arm, pick the white bottle and shake properly.", + "Grab the white bottle and shake it steadily.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the smooth bottle after grabbing it.", + "Pick up the handheld white bottle with cap and shake it well.", + "Lift up the handheld white bottle with cap using the right arm, then shake.", + "Hold and shake the the white cylindrical bottle carefully.", + "Grab the white bottle with red text with the right arm and shake.", + "Hold the medium-sized bottle with the right arm and shake lightly.", + "Use the right arm to grab the bottle with tapering neck and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Grip the medium-sized bottle using the right arm and shake.", + "Shake the cylindrical bottle with red writing thoroughly after grabbing it.", + "Pick the white bottle for liquids up with the right arm and shake.", + "Shake the white bottle with red text after lifting it.", + "Shake the medium-sized bottle after grabbing it.", + "Catch the white bottle for liquids and shake it instantly.", + "Use the right arm to hold the white cylindrical bottle and shake it.", + "Grab the white bottle with red text and move it to shake.", + "Grab the smooth bottle and give it a shake.", + "Shake the medium-sized bottle after grabbing it.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Secure the cylindrical bottle with red writing, shake it, and place it down.", + "Lift the smooth bottle with the right arm and shake.", + "Take the white bottle for liquids using the right arm and give it a shake.", + "Pick up the bottle with tapering neck and shake it.", + "Utilize the right arm to hold the bottle with orange screw cap and shake it.", + "Shake the bottle with tapering neck after holding it firmly.", + "Lift the white bottle for liquids with the right arm and shake it.", + "Lift the cylindrical bottle with red writing with the right arm and give it a shake.", + "Grab the white bottle using the right arm, then shake.", + "Use the right arm to pick and shake the white bottle.", + "Secure the white cylindrical bottle and perform a shake.", + "Shake the white bottle with orange lid firmly after grabbing.", + "Shake the the white bottle properly after lifting.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab and shake the bottle with orange screw cap using the right arm.", + "Lift the cylindrical bottle with red writing and shake it thoroughly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Use the right arm to lift and shake the white bottle.", + "Lift the handheld white bottle with cap and shake it gently.", + "Use the right arm to lift and shake the smooth bottle.", + "Hold the white bottle for liquids, shake it briefly.", + "Pick the white bottle for liquids up using the right arm and shake it.", + "Shake the handheld white bottle with cap using the right arm after grabbing.", + "Hold the bottle with tapering neck steady, then shake it.", + "Hold the bottle with tapering neck and shake it properly." + ], + "unseen": [ + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to pick the bottle with orange cap.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to pick the plastic bottle with printed label.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to pick the bottle with orange cap.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to pick the bottle with orange cap.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to pick the bottle with orange cap.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to pick the bottle with glossy surface.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to pick the plastic bottle with printed label.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with glossy surface and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode340.json b/shake_bottle/ur5_randomized_500/instructions/episode340.json new file mode 100644 index 0000000000000000000000000000000000000000..3071caf902e474890d5b13372c2d7e67ad03fe43 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode340.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the medium water bottle properly after lifting.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the light blue bottle with smooth body thoroughly after grabbing it.", + "Pick the plastic bottle and perform shaking motion.", + "Grasp the rounded bottle with black lid with the left arm and shake it.", + "Hold the plastic bottle with black top, shake it briefly.", + "Grab the blue bottle with the left arm and shake.", + "Shake the plastic bottle with black top after grabbing it.", + "Hold the light blue bottle with strap-loop with the left arm and shake lightly.", + "Grab the portable bottle for liquids carefully and shake.", + "Use the left arm to lift and shake the light blue bottle with smooth body.", + "Hold and shake the the blue water bottle with textured lid carefully.", + "Hold the cylindrical bottle with rounded edges and shake it properly.", + "Use the left arm to hold the rounded bottle with black lid and shake it.", + "Grab the rounded bottle with black lid using the left arm, then shake.", + "Pick up the plastic bottle with black top and shake it well.", + "Catch the blue water bottle with textured lid and shake it instantly.", + "Use the left arm to lift and shake the blue bottle.", + "Shake the rounded bottle with black lid after grabbing it.", + "Grab the light blue bottle with strap-loop firmly, shake it, and put it down.", + "Use the left arm to lift and shake the light blue bottle with strap-loop.", + "Grip the plastic bottle with black top using the left arm and shake.", + "Grab the light blue bottle with smooth body and give it a shake.", + "With the left arm, pick the blue water bottle with textured lid and shake properly.", + "Secure the plastic bottle with black top and perform a shake.", + "Take the light blue bottle with strap-loop using the left arm and give it a shake.", + "Pick up the plastic bottle with black top and shake it.", + "Grab and shake the portable bottle for liquids using the left arm.", + "Pick the light blue cylindrical bottle up using the left arm and shake it.", + "Use the left arm to grab the light blue bottle with smooth body and shake it.", + "Use the left arm to pick and shake the blue bottle.", + "Grab the light blue bottle with strap-loop and shake it steadily.", + "Shake the portable bottle for liquids after holding it firmly.", + "Shake the light blue bottle with smooth body using the left arm after grabbing.", + "Shake the blue bottle firmly after grabbing.", + "Using the left arm, shake the light blue cylindrical bottle and then place it back.", + "Lift the blue water bottle with textured lid with the left arm and shake it.", + "Shake the plastic bottle with black top after lifting it.", + "Hold the rounded bottle with black lid steady, then shake it.", + "Lift the medium water bottle and shake it gently.", + "Pick the blue bottle up with the left arm and shake.", + "Secure the light blue bottle with strap-loop, shake it, and place it down.", + "Lift up the blue bottle using the left arm, then shake.", + "Utilize the left arm to hold the light blue bottle with strap-loop and shake it.", + "Shake the blue bottle after grabbing it.", + "Grab the light blue bottle with smooth body and move it to shake.", + "Use the left arm to grab the cylindrical bottle with rounded edges and shake properly.", + "Pick the blue bottle, shake it with the left arm.", + "Lift the plastic bottle with the left arm and shake.", + "Shake the the cylindrical bottle with rounded edges properly after lifting.", + "Lift the cylindrical bottle with rounded edges and shake it thoroughly.", + "Lift the rounded bottle with black lid with the left arm and give it a shake.", + "Shake the cylindrical bottle with rounded edges thoroughly after grabbing it.", + "Pick the bottle with black textured cap and perform shaking motion.", + "Grasp the blue water bottle with textured lid with the left arm and shake it.", + "Hold the portable bottle for liquids, shake it briefly.", + "Grab the medium water bottle with the left arm and shake.", + "Shake the light blue cylindrical bottle after grabbing it.", + "Hold the blue bottle with the left arm and shake lightly.", + "Grab the blue water bottle with textured lid carefully and shake.", + "Use the left arm to lift and shake the cylindrical bottle with rounded edges.", + "Hold and shake the the cylindrical bottle with rounded edges carefully.", + "Hold the medium water bottle and shake it properly.", + "Use the left arm to hold the plastic bottle with black top and shake it.", + "Grab the blue bottle using the left arm, then shake.", + "Pick up the medium water bottle and shake it well.", + "Catch the blue water bottle with textured lid and shake it instantly.", + "Use the left arm to lift and shake the blue water bottle with textured lid.", + "Shake the medium water bottle after grabbing it.", + "Grab the rounded bottle with black lid firmly, shake it, and put it down.", + "Use the left arm to lift and shake the blue bottle.", + "Grip the light blue bottle with smooth body using the left arm and shake.", + "Grab the blue bottle and give it a shake.", + "With the left arm, pick the bottle with black textured cap and shake properly.", + "Secure the light blue bottle with smooth body and perform a shake.", + "Take the portable bottle for liquids using the left arm and give it a shake.", + "Pick up the plastic bottle and shake it.", + "Grab and shake the light blue bottle with smooth body using the left arm.", + "Pick the bottle with black textured cap up using the left arm and shake it.", + "Use the left arm to grab the blue bottle and shake it.", + "Use the left arm to pick and shake the blue water bottle with textured lid.", + "Grab the blue water bottle with textured lid and shake it steadily.", + "Shake the plastic bottle after holding it firmly.", + "Shake the light blue bottle with smooth body using the left arm after grabbing.", + "Shake the light blue bottle with smooth body firmly after grabbing.", + "Using the left arm, shake the bottle with black textured cap and then place it back.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the rounded bottle with black lid after lifting it.", + "Hold the cylindrical bottle with rounded edges steady, then shake it.", + "Lift the light blue cylindrical bottle and shake it gently.", + "Pick the light blue bottle with strap-loop up with the left arm and shake.", + "Secure the medium water bottle, shake it, and place it down.", + "Lift up the plastic bottle with black top using the left arm, then shake.", + "Utilize the left arm to hold the rounded bottle with black lid and shake it.", + "Shake the cylindrical bottle with rounded edges after grabbing it.", + "Grab the light blue bottle with smooth body and move it to shake.", + "Use the left arm to grab the plastic bottle with black top and shake properly.", + "Pick the medium water bottle, shake it with the left arm.", + "Lift the light blue cylindrical bottle with the left arm and shake." + ], + "unseen": [ + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Use the left arm to pick the smooth blue water bottle.", + "Grab the smooth blue water bottle and give it a shake.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Grab the smooth blue water bottle and give it a shake.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the smooth blue water bottle and shake it.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Use the left arm to pick the smooth blue water bottle.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the bottle with attached loop on cap after picking it with the left arm.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Pick up the smooth blue water bottle and shake it.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the smooth blue water bottle and give it a shake.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Grab the smooth blue water bottle and shake it.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode341.json b/shake_bottle/ur5_randomized_500/instructions/episode341.json new file mode 100644 index 0000000000000000000000000000000000000000..467d9d55308d1296f1ebc9ac3c3ecdd298eb4bf0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode341.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the right arm to hold the bottle for holding drinks and shake it.", + "Pick the round-bottom bottle with white cap and perform shaking motion.", + "Hold the cylindrical orange plastic bottle and shake it properly.", + "Use the right arm to lift and shake the plastic bottle.", + "Grasp the smooth orange bottle with the right arm and shake it.", + "Pick the orange bottle up with the right arm and shake.", + "Grab the light and medium-sized bottle and give it a shake.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Grab the curved orange soda bottle carefully and shake.", + "Grab the bottle for holding drinks and move it to shake.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Pick the bottle for holding drinks, shake it with the right arm.", + "With the right arm, pick the orange bottle and shake properly.", + "Grab the medium bottle with colorful label with the right arm and shake.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Use the right arm to grab the grooved orange drink bottle and shake properly.", + "Hold and shake the the light and medium-sized bottle carefully.", + "Shake the bottle for holding drinks after lifting it.", + "Grab the grooved orange drink bottle using the right arm, then shake.", + "Lift the plastic bottle with the right arm and shake.", + "Shake the bottle for holding drinks firmly after grabbing.", + "Use the right arm to hold the round-bottom bottle with white cap and shake it.", + "Shake the ridged orange bottle with grooves using the right arm after grabbing.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "Shake the the bottle for holding drinks properly after lifting.", + "Shake the plastic bottle after holding it firmly.", + "Grip the ridged orange bottle with grooves using the right arm and shake.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Lift the ridged orange bottle with grooves with the right arm and shake it.", + "Lift up the grooved orange drink bottle using the right arm, then shake.", + "Grab the plastic bottle and shake it steadily.", + "Catch the plastic bottle and shake it instantly.", + "Use the right arm to grab the orange drink bottle with label and shake it.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Use the right arm to pick and shake the smooth orange bottle.", + "Pick up the grooved orange drink bottle and shake it.", + "Grab and shake the curved orange soda bottle using the right arm.", + "Shake the orange drink bottle with label after grabbing it.", + "Hold the medium bottle with colorful label with the right arm and shake lightly.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Shake the medium bottle with colorful label after grabbing it.", + "Take the round-bottom bottle with white cap using the right arm and give it a shake.", + "Lift the grooved orange drink bottle with the right arm and give it a shake.", + "Using the right arm, shake the grooved orange drink bottle and then place it back.", + "Pick the orange bottle up using the right arm and shake it.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Pick up the smooth orange bottle and shake it well.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Pick the orange drink bottle with label and perform shaking motion.", + "Hold the cylindrical orange plastic bottle and shake it properly.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Grasp the orange bottle with the right arm and shake it.", + "Pick the ridged orange bottle with grooves up with the right arm and shake.", + "Grab the medium bottle with colorful label and give it a shake.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Grab the ridged orange bottle with grooves carefully and shake.", + "Grab the medium bottle with colorful label and move it to shake.", + "Lift the medium bottle with colorful label and shake it thoroughly.", + "Pick the medium bottle with colorful label, shake it with the right arm.", + "With the right arm, pick the light and medium-sized bottle and shake properly.", + "Grab the curved orange soda bottle with the right arm and shake.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Hold the orange bottle steady, then shake it.", + "Secure the light and medium-sized bottle and perform a shake.", + "Use the right arm to grab the ridged orange bottle with grooves and shake properly.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Shake the medium bottle with colorful label after lifting it.", + "Grab the curved orange soda bottle using the right arm, then shake.", + "Lift the curved orange soda bottle with the right arm and shake.", + "Shake the bottle for holding drinks firmly after grabbing.", + "Use the right arm to hold the round-bottom bottle with white cap and shake it.", + "Shake the round-bottom bottle with white cap using the right arm after grabbing.", + "Lift the curved orange soda bottle and shake it gently.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Shake the smooth orange bottle after holding it firmly.", + "Grip the cylindrical orange plastic bottle using the right arm and shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Lift the smooth orange bottle with the right arm and shake it.", + "Lift up the light and medium-sized bottle using the right arm, then shake.", + "Grab the cylindrical orange plastic bottle and shake it steadily.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Use the right arm to grab the curved orange soda bottle and shake it.", + "Shake the light and medium-sized bottle after grabbing it.", + "Use the right arm to pick and shake the smooth orange bottle.", + "Pick up the cylindrical orange plastic bottle and shake it.", + "Grab and shake the ridged orange bottle with grooves using the right arm.", + "Shake the orange drink bottle with label after grabbing it.", + "Hold the smooth orange bottle with the right arm and shake lightly.", + "Hold the smooth orange bottle, shake it briefly.", + "Shake the medium bottle with colorful label after grabbing it.", + "Take the medium bottle with colorful label using the right arm and give it a shake.", + "Lift the orange drink bottle with label with the right arm and give it a shake.", + "Using the right arm, shake the smooth orange bottle and then place it back.", + "Pick the cylindrical orange plastic bottle up using the right arm and shake it.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Pick up the light and medium-sized bottle and shake it well.", + "Use the right arm to lift and shake the orange drink bottle with label." + ], + "unseen": [ + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode342.json b/shake_bottle/ur5_randomized_500/instructions/episode342.json new file mode 100644 index 0000000000000000000000000000000000000000..e711b63af1fdb8dcd06991e78f434accfb7ac60a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode342.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Shake the ridged orange bottle with grooves after lifting it.", + "Grasp the ridged orange bottle with grooves with the right arm and shake it.", + "Shake the light and medium-sized bottle after grabbing it.", + "Pick up the grooved orange drink bottle and shake it.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Grab and shake the bottle for holding drinks using the right arm.", + "Hold the medium bottle with colorful label with the right arm and shake lightly.", + "Grip the light and medium-sized bottle using the right arm and shake.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Pick the light and medium-sized bottle up using the right arm and shake it.", + "Using the right arm, shake the ridged orange bottle with grooves and then place it back.", + "Grab the bottle for holding drinks with the right arm and shake.", + "Shake the plastic bottle after holding it firmly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to grab the round-bottom bottle with white cap and shake properly.", + "Use the right arm to pick and shake the medium bottle with colorful label.", + "Pick the ridged orange bottle with grooves and perform shaking motion.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Hold the curved orange soda bottle steady, then shake it.", + "Shake the light and medium-sized bottle after grabbing it.", + "Use the right arm to grab the cylindrical orange plastic bottle and shake it.", + "Grab the light and medium-sized bottle and give it a shake.", + "Lift the curved orange soda bottle and shake it gently.", + "Hold the ridged orange bottle with grooves and shake it properly.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Shake the the light and medium-sized bottle properly after lifting.", + "Hold the medium bottle with colorful label, shake it briefly.", + "Use the right arm to hold the orange bottle and shake it.", + "Secure the orange bottle and perform a shake.", + "Pick the orange bottle, shake it with the right arm.", + "Lift the plastic bottle with the right arm and shake it.", + "Hold and shake the the medium bottle with colorful label carefully.", + "Grab the curved orange soda bottle firmly, shake it, and put it down.", + "Shake the medium bottle with colorful label firmly after grabbing.", + "Lift up the round-bottom bottle with white cap using the right arm, then shake.", + "Pick the bottle for holding drinks up with the right arm and shake.", + "With the right arm, pick the bottle for holding drinks and shake properly.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Shake the medium bottle with colorful label thoroughly after grabbing it.", + "Take the orange bottle using the right arm and give it a shake.", + "Grab the plastic bottle using the right arm, then shake.", + "Lift the cylindrical orange plastic bottle with the right arm and shake.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Utilize the right arm to hold the round-bottom bottle with white cap and shake it.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Grab the smooth orange bottle carefully and shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Pick up the grooved orange drink bottle and shake it well.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Shake the grooved orange drink bottle after lifting it.", + "Grasp the bottle for holding drinks with the right arm and shake it.", + "Shake the orange bottle after grabbing it.", + "Pick up the orange drink bottle with label and shake it.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Grab and shake the bottle for holding drinks using the right arm.", + "Hold the medium bottle with colorful label with the right arm and shake lightly.", + "Grip the smooth orange bottle using the right arm and shake.", + "Lift the medium bottle with colorful label and shake it thoroughly.", + "Pick the cylindrical orange plastic bottle up using the right arm and shake it.", + "Using the right arm, shake the bottle for holding drinks and then place it back.", + "Grab the smooth orange bottle with the right arm and shake.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Lift the medium bottle with colorful label with the right arm and give it a shake.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to grab the ridged orange bottle with grooves and shake properly.", + "Use the right arm to pick and shake the light and medium-sized bottle.", + "Pick the smooth orange bottle and perform shaking motion.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Hold the grooved orange drink bottle steady, then shake it.", + "Shake the curved orange soda bottle after grabbing it.", + "Use the right arm to grab the light and medium-sized bottle and shake it.", + "Grab the cylindrical orange plastic bottle and give it a shake.", + "Lift the smooth orange bottle and shake it gently.", + "Hold the medium bottle with colorful label and shake it properly.", + "Shake the grooved orange drink bottle after grabbing it.", + "Shake the the curved orange soda bottle properly after lifting.", + "Hold the plastic bottle, shake it briefly.", + "Use the right arm to hold the round-bottom bottle with white cap and shake it.", + "Secure the medium bottle with colorful label and perform a shake.", + "Pick the cylindrical orange plastic bottle, shake it with the right arm.", + "Lift the curved orange soda bottle with the right arm and shake it.", + "Hold and shake the the medium bottle with colorful label carefully.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Shake the plastic bottle firmly after grabbing.", + "Lift up the ridged orange bottle with grooves using the right arm, then shake.", + "Pick the bottle for holding drinks up with the right arm and shake.", + "With the right arm, pick the light and medium-sized bottle and shake properly.", + "Catch the orange drink bottle with label and shake it instantly.", + "Shake the ridged orange bottle with grooves thoroughly after grabbing it.", + "Take the curved orange soda bottle using the right arm and give it a shake.", + "Grab the smooth orange bottle using the right arm, then shake.", + "Lift the medium bottle with colorful label with the right arm and shake.", + "Grab the light and medium-sized bottle and shake it steadily.", + "Utilize the right arm to hold the round-bottom bottle with white cap and shake it.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Grab the orange bottle carefully and shake.", + "Shake the grooved orange drink bottle using the right arm after grabbing.", + "Pick up the smooth orange bottle and shake it well." + ], + "unseen": [ + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode343.json b/shake_bottle/ur5_randomized_500/instructions/episode343.json new file mode 100644 index 0000000000000000000000000000000000000000..26fa7cc7cd877a497e5b5a2baa8e9fe7630e6860 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode343.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the rounded bottle with printed details and shake properly.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake it.", + "Pick up the smooth brown bottle and shake it.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Pick the medium plastic bottle, shake it with the left arm.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Shake the smooth brown bottle using the left arm after grabbing.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Lift up the bottle with brown body and white top using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Secure the rounded bottle with printed details, shake it, and place it down.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Grab the medium plastic bottle with the left arm and shake.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "With the left arm, pick the bottle with dark brown color and shake properly.", + "Shake the the smooth brown bottle properly after lifting.", + "Secure the bottle with white cap and perform a shake.", + "Shake the white-capped brown cylindrical bottle after holding it firmly.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Pick the plastic bottle with printed label up using the left arm and shake it.", + "Use the left arm to hold the smooth brown bottle and shake it.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Take the medium bottle with smooth texture using the left arm and give it a shake.", + "Grab and shake the rounded bottle with printed details using the left arm.", + "Use the left arm to lift and shake the bottle with white cap.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Hold the plastic bottle with printed label with the left arm and shake lightly.", + "Lift the medium bottle with smooth texture with the left arm and shake.", + "Hold the cylindrical bottle with narrow neck, shake it briefly.", + "Shake the medium bottle with smooth texture after lifting it.", + "Grab the smooth brown bottle and shake it steadily.", + "Grab the bottle with brown body and white top firmly, shake it, and put it down.", + "Catch the bottle with brown body and white top and shake it instantly.", + "Grab the handheld brown bottle with white lid using the left arm, then shake.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "Utilize the left arm to hold the bottle with brown body and white top and shake it.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Use the left arm to pick and shake the bottle with white cap.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Pick the cylindrical bottle with narrow neck up with the left arm and shake.", + "Using the left arm, shake the white-capped brown cylindrical bottle and then place it back.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Grab the plastic bottle with printed label and give it a shake.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it.", + "Grab the plastic bottle for liquids and move it to shake.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Use the left arm to grab the bottle with dark brown color and shake properly.", + "Use the left arm to grab the bottle with white cap and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Pick the bottle with dark brown color, shake it with the left arm.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Shake the smooth brown bottle using the left arm after grabbing.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Lift up the medium bottle with smooth texture using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Grab the medium plastic bottle with the left arm and shake.", + "Pick up the plastic bottle for liquids and shake it well.", + "With the left arm, pick the bottle with brown body and white top and shake properly.", + "Shake the the handheld brown bottle with white lid properly after lifting.", + "Secure the plastic bottle with printed label and perform a shake.", + "Shake the white-capped brown cylindrical bottle after holding it firmly.", + "Hold the bottle with white cap steady, then shake it.", + "Pick the bottle with brown body and white top up using the left arm and shake it.", + "Use the left arm to hold the smooth brown bottle and shake it.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Lift the bottle with dark brown color with the left arm and give it a shake.", + "Take the medium bottle with smooth texture using the left arm and give it a shake.", + "Grab and shake the medium bottle with smooth texture using the left arm.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Hold the rounded bottle with printed details with the left arm and shake lightly.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake.", + "Hold the handheld brown bottle with white lid, shake it briefly.", + "Shake the plastic bottle for liquids after lifting it.", + "Grab the bottle with brown body and white top and shake it steadily.", + "Grab the smooth brown bottle firmly, shake it, and put it down.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Grab the bottle with white cap using the left arm, then shake.", + "Grasp the white-capped brown cylindrical bottle with the left arm and shake it.", + "Utilize the left arm to hold the bottle with dark brown color and shake it.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Use the left arm to pick and shake the white-capped brown cylindrical bottle.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Pick the white-capped brown cylindrical bottle up with the left arm and shake.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Grip the bottle with white cap using the left arm and shake.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Lift the rounded bottle with printed details with the left arm and shake it.", + "Grab the rounded bottle with printed details and move it to shake.", + "Lift the bottle with white cap and shake it gently." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown cylindrical bottle with label with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode344.json b/shake_bottle/ur5_randomized_500/instructions/episode344.json new file mode 100644 index 0000000000000000000000000000000000000000..80f7fa4f412f2db61d8491b0f80353cd716b16af --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode344.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the black bottle and move it to shake.", + "Use the right arm to pick and shake the drink bottle with rounded yellow lid.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Hold the yellow-capped cylindrical bottle steady, then shake it.", + "Grab the smooth black bottle with ridges with the right arm and shake.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Shake the the medium bottle with yellow cap properly after lifting.", + "Pick the smooth black bottle with ridges up using the right arm and shake it.", + "Using the right arm, shake the black cylindrical bottle with ridges and then place it back.", + "Catch the bottle with blue and yellow print and shake it instantly.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Pick the yellow-capped cylindrical bottle, shake it with the right arm.", + "Hold the medium black bottle with printed label and shake it properly.", + "Hold the drink bottle with rounded yellow lid with the right arm and shake lightly.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "With the right arm, pick the beverage bottle with black body and shake properly.", + "Secure the yellow capped drink bottle, shake it, and place it down.", + "Lift up the smooth black bottle with ridges using the right arm, then shake.", + "Shake the yellow capped drink bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the yellow capped drink bottle.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Take the smooth black bottle with ridges using the right arm and give it a shake.", + "Lift the yellow-capped cylindrical bottle with the right arm and shake.", + "Lift the yellow capped drink bottle with the right arm and give it a shake.", + "Grasp the medium bottle with yellow cap with the right arm and shake it.", + "Hold the smooth black bottle with ridges, shake it briefly.", + "Shake the yellow capped drink bottle after lifting it.", + "Grab the plastic bottle with colorful label carefully and shake.", + "Grab the yellow capped drink bottle and shake it steadily.", + "Pick the beverage bottle with black body up with the right arm and shake.", + "Utilize the right arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Use the right arm to grab the medium bottle with yellow cap and shake properly.", + "Grip the black cylindrical bottle with ridges using the right arm and shake.", + "Use the right arm to hold the smooth black bottle with ridges and shake it.", + "Grab and shake the drink bottle with rounded yellow lid using the right arm.", + "Hold and shake the the smooth black bottle with ridges carefully.", + "Pick up the black plastic bottle with Pepsi logo and shake it.", + "Shake the black plastic bottle with Pepsi logo after holding it firmly.", + "Use the right arm to grab the medium bottle with yellow cap and shake it.", + "Shake the black cylindrical bottle with ridges using the right arm after grabbing.", + "Use the right arm to lift and shake the medium bottle with yellow cap.", + "Grab the yellow capped drink bottle firmly, shake it, and put it down.", + "Lift the yellow capped drink bottle with the right arm and shake it.", + "Pick the smooth black bottle with ridges and perform shaking motion.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Secure the black cylindrical bottle with ridges and perform a shake.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Grab the black bottle using the right arm, then shake.", + "Pick up the yellow-capped cylindrical bottle and shake it well.", + "Grab the medium black bottle with printed label and move it to shake.", + "Use the right arm to pick and shake the medium bottle with yellow cap.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Hold the bottle with blue and yellow print steady, then shake it.", + "Grab the medium black bottle with printed label with the right arm and shake.", + "Use the right arm to lift and shake the black cylindrical bottle with ridges.", + "Shake the the drink bottle with rounded yellow lid properly after lifting.", + "Pick the yellow capped drink bottle up using the right arm and shake it.", + "Using the right arm, shake the bottle with blue and yellow print and then place it back.", + "Catch the black bottle and shake it instantly.", + "Shake the black bottle after grabbing it.", + "Pick the medium bottle with yellow cap, shake it with the right arm.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Hold the yellow capped drink bottle with the right arm and shake lightly.", + "Lift the yellow-capped cylindrical bottle and shake it thoroughly.", + "With the right arm, pick the drink bottle with rounded yellow lid and shake properly.", + "Secure the bottle with blue and yellow print, shake it, and place it down.", + "Lift up the plastic bottle with colorful label using the right arm, then shake.", + "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium black bottle with printed label.", + "Lift the bottle with blue and yellow print and shake it gently.", + "Take the plastic bottle with colorful label using the right arm and give it a shake.", + "Lift the medium black bottle with printed label with the right arm and shake.", + "Lift the bottle with blue and yellow print with the right arm and give it a shake.", + "Grasp the bottle with blue and yellow print with the right arm and shake it.", + "Hold the yellow capped drink bottle, shake it briefly.", + "Shake the black plastic bottle with Pepsi logo after lifting it.", + "Grab the black cylindrical bottle with ridges carefully and shake.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Pick the drink bottle with rounded yellow lid up with the right arm and shake.", + "Utilize the right arm to hold the bottle with blue and yellow print and shake it.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Use the right arm to grab the beverage bottle with black body and shake properly.", + "Grip the yellow capped drink bottle using the right arm and shake.", + "Use the right arm to hold the beverage bottle with black body and shake it.", + "Grab and shake the black plastic bottle with Pepsi logo using the right arm.", + "Hold and shake the the yellow-capped cylindrical bottle carefully.", + "Pick up the drink bottle with rounded yellow lid and shake it.", + "Shake the medium black bottle with printed label after holding it firmly.", + "Use the right arm to grab the bottle with blue and yellow print and shake it.", + "Shake the beverage bottle with black body using the right arm after grabbing.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Grab the yellow capped drink bottle firmly, shake it, and put it down.", + "Lift the drink bottle with rounded yellow lid with the right arm and shake it.", + "Pick the black bottle and perform shaking motion.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Secure the bottle with blue and yellow print and perform a shake.", + "Grab the bottle with blue and yellow print and give it a shake.", + "Grab the bottle with blue and yellow print using the right arm, then shake.", + "Pick up the drink bottle with rounded yellow lid and shake it well." + ], + "unseen": [ + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode345.json b/shake_bottle/ur5_randomized_500/instructions/episode345.json new file mode 100644 index 0000000000000000000000000000000000000000..c23a093c6542695115afde139a38c65dba0cbabe --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode345.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth brown bottle with green label after grabbing it.", + "Grab the rectangular brown body with white top with the left arm and shake.", + "Grab the smooth plastic bottle with white cap and move it to shake.", + "Using the left arm, shake the medium-sized brown plastic bottle and then place it back.", + "Lift the smooth plastic bottle with white cap and shake it gently.", + "Lift the bottle with green cap with the left arm and shake it.", + "Hold the dark brown bottle with a squared body, shake it briefly.", + "Shake the the brown bottle with rounded rectangular shape properly after lifting.", + "Lift the medium-sized brown plastic bottle with the left arm and shake.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down.", + "Lift the rectangular brown body with white top with the left arm and give it a shake.", + "Pick up the brown bottle and shake it.", + "Secure the medium bottle with glossy surface, shake it, and place it down.", + "Secure the plastic bottle and perform a shake.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Use the left arm to lift and shake the medium bottle with glossy surface.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Shake the dark brown bottle with a squared body after lifting it.", + "Grasp the smooth plastic bottle with white cap with the left arm and shake it.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Lift up the dark brown bottle with a squared body using the left arm, then shake.", + "Shake the rectangular brown body with white top after holding it firmly.", + "Pick the medium bottle with glossy surface up with the left arm and shake.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Grab the dark brown bottle with a squared body using the left arm, then shake.", + "Take the bottle with green cap using the left arm and give it a shake.", + "Catch the medium bottle with glossy surface and shake it instantly.", + "Hold the medium-sized brown plastic bottle with the left arm and shake lightly.", + "Use the left arm to grab the rectangular brown body with white top and shake properly.", + "Pick up the bottle with green cap and shake it well.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Pick the bottle with green cap up using the left arm and shake it.", + "Pick the bottle with flat sides and logo, shake it with the left arm.", + "Grip the rectangular brown body with white top using the left arm and shake.", + "Hold and shake the the plastic bottle carefully.", + "Utilize the left arm to hold the dark brown bottle with a squared body and shake it.", + "Grab and shake the dark brown bottle with a squared body using the left arm.", + "With the left arm, pick the rectangular-shaped bottle with round cap and shake properly.", + "Grab the rectangular brown body with white top and shake it steadily.", + "Pick the medium-sized brown plastic bottle and perform shaking motion.", + "Shake the bottle with flat sides and logo firmly after grabbing.", + "Lift the bottle with flat sides and logo and shake it thoroughly.", + "Use the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Grab the brown bottle with rounded rectangular shape carefully and shake.", + "Use the left arm to grab the brown bottle with rounded rectangular shape and shake it.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to pick and shake the smooth plastic bottle with white cap.", + "Shake the rectangular brown body with white top after grabbing it.", + "Grab the brown bottle with rounded rectangular shape with the left arm and shake.", + "Grab the rectangular-shaped bottle with round cap and move it to shake.", + "Using the left arm, shake the dark brown bottle with a squared body and then place it back.", + "Lift the smooth brown bottle with green label and shake it gently.", + "Lift the smooth brown bottle with green label with the left arm and shake it.", + "Hold the medium-sized brown plastic bottle, shake it briefly.", + "Shake the the medium bottle with glossy surface properly after lifting.", + "Lift the brown bottle with the left arm and shake.", + "Hold the plastic bottle steady, then shake it.", + "Grab the rectangular-shaped bottle with round cap firmly, shake it, and put it down.", + "Lift the rectangular-shaped bottle with round cap with the left arm and give it a shake.", + "Pick up the rectangular brown body with white top and shake it.", + "Secure the medium-sized brown plastic bottle, shake it, and place it down.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Use the left arm to lift and shake the bottle with green cap.", + "Use the left arm to lift and shake the smooth plastic bottle with white cap.", + "Shake the rectangular brown body with white top after grabbing it.", + "Shake the plastic bottle after lifting it.", + "Grasp the dark brown bottle with a squared body with the left arm and shake it.", + "Shake the smooth plastic bottle with white cap using the left arm after grabbing.", + "Lift up the smooth brown bottle with green label using the left arm, then shake.", + "Shake the dark brown bottle with a squared body after holding it firmly.", + "Pick the smooth plastic bottle with white cap up with the left arm and shake.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Grab the smooth brown bottle with green label using the left arm, then shake.", + "Take the smooth plastic bottle with white cap using the left arm and give it a shake.", + "Catch the smooth brown bottle with green label and shake it instantly.", + "Hold the dark brown bottle with a squared body with the left arm and shake lightly.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake properly.", + "Pick up the medium-sized brown plastic bottle and shake it well.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the medium-sized brown plastic bottle up using the left arm and shake it.", + "Pick the smooth plastic bottle with white cap, shake it with the left arm.", + "Grip the medium-sized brown plastic bottle using the left arm and shake.", + "Hold and shake the the medium bottle with glossy surface carefully.", + "Utilize the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Grab and shake the bottle with green cap using the left arm.", + "With the left arm, pick the rectangular brown body with white top and shake properly.", + "Grab the smooth brown bottle with green label and shake it steadily.", + "Pick the bottle with flat sides and logo and perform shaking motion.", + "Shake the rectangular brown body with white top firmly after grabbing.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Use the left arm to hold the medium-sized brown plastic bottle and shake it.", + "Grab the bottle with green cap and give it a shake.", + "Shake the smooth plastic bottle with white cap thoroughly after grabbing it.", + "Grab the brown bottle with rounded rectangular shape carefully and shake.", + "Use the left arm to grab the bottle with green cap and shake it.", + "Hold the smooth brown bottle with green label and shake it properly.", + "Use the left arm to pick and shake the rectangular brown body with white top." + ], + "unseen": [ + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode346.json b/shake_bottle/ur5_randomized_500/instructions/episode346.json new file mode 100644 index 0000000000000000000000000000000000000000..f7509a03da096fd31499ec940122e8e268825f6e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode346.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the plastic bottle after grabbing it.", + "Use the left arm to lift and shake the handheld plastic bottle.", + "Grip the plastic bottle with bright red color using the left arm and shake.", + "Pick up the bottle with red cap and shake it.", + "Grab and shake the red bottle with screw cap using the left arm.", + "Pick the red bottle with narrow neck and perform shaking motion.", + "Hold the red bottle and shake it properly.", + "Take the bottle with red cap using the left arm and give it a shake.", + "Pick up the plastic bottle and shake it well.", + "Shake the red bottle with narrow neck after grabbing it.", + "Lift the red bottle with curved grooves with the left arm and shake it.", + "Shake the red bottle with curved grooves after lifting it.", + "Pick the smooth red cylindrical bottle up with the left arm and shake.", + "With the left arm, pick the smooth red cylindrical bottle and shake properly.", + "Grab the red bottle with narrow neck with the left arm and shake.", + "Hold the red bottle with screw cap with the left arm and shake lightly.", + "Grab the medium-size plastic bottle and give it a shake.", + "Use the left arm to lift and shake the handheld plastic bottle.", + "Grab the red bottle with screw cap using the left arm, then shake.", + "Grab the red bottle with white bottom text firmly, shake it, and put it down.", + "Secure the medium-size plastic bottle, shake it, and place it down.", + "Shake the red bottle with curved grooves after holding it firmly.", + "Use the left arm to hold the red bottle and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Lift the medium-size plastic bottle with the left arm and give it a shake.", + "Catch the red bottle with narrow neck and shake it instantly.", + "Pick the yellow text bottle up using the left arm and shake it.", + "Hold the medium-size plastic bottle steady, then shake it.", + "Lift the red bottle and shake it thoroughly.", + "Grab the red bottle with narrow neck carefully and shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Grasp the red bottle with the left arm and shake it.", + "Lift the yellow text bottle and shake it gently.", + "Grab the medium-size plastic bottle and move it to shake.", + "Pick the handheld plastic bottle, shake it with the left arm.", + "Shake the plastic bottle with bright red color after grabbing it.", + "Lift up the red bottle using the left arm, then shake.", + "Shake the the red bottle with white bottom text properly after lifting.", + "Shake the smooth red cylindrical bottle thoroughly after grabbing it.", + "Use the left arm to grab the red bottle and shake it.", + "Use the left arm to lift and shake the yellow text bottle.", + "Secure the bottle with red cap and perform a shake.", + "Shake the handheld plastic bottle using the left arm after grabbing.", + "Shake the plastic bottle firmly after grabbing.", + "Hold and shake the the red bottle with curved grooves carefully.", + "Hold the red bottle with narrow neck, shake it briefly.", + "Grab the red bottle with white bottom text and shake it steadily.", + "Use the left arm to pick and shake the red bottle with screw cap.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to grab the medium-size plastic bottle and shake properly.", + "Shake the red bottle with narrow neck after grabbing it.", + "Use the left arm to lift and shake the red bottle with curved grooves.", + "Grip the red bottle with white bottom text using the left arm and shake.", + "Pick up the red bottle with screw cap and shake it.", + "Grab and shake the red bottle with screw cap using the left arm.", + "Pick the bottle with red cap and perform shaking motion.", + "Hold the plastic bottle with bright red color and shake it properly.", + "Take the medium-size plastic bottle using the left arm and give it a shake.", + "Pick up the yellow text bottle and shake it well.", + "Shake the smooth red cylindrical bottle after grabbing it.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the plastic bottle with bright red color after lifting it.", + "Pick the red bottle with screw cap up with the left arm and shake.", + "With the left arm, pick the handheld plastic bottle and shake properly.", + "Grab the yellow text bottle with the left arm and shake.", + "Hold the handheld plastic bottle with the left arm and shake lightly.", + "Grab the red bottle and give it a shake.", + "Use the left arm to lift and shake the medium-size plastic bottle.", + "Grab the red bottle with curved grooves using the left arm, then shake.", + "Grab the red bottle with white bottom text firmly, shake it, and put it down.", + "Secure the bottle with red cap, shake it, and place it down.", + "Shake the red bottle with narrow neck after holding it firmly.", + "Use the left arm to hold the red bottle with narrow neck and shake it.", + "Lift the handheld plastic bottle with the left arm and shake.", + "Lift the medium-size plastic bottle with the left arm and give it a shake.", + "Catch the red bottle with white bottom text and shake it instantly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Hold the yellow text bottle steady, then shake it.", + "Lift the medium-size plastic bottle and shake it thoroughly.", + "Grab the red bottle with curved grooves carefully and shake.", + "Using the left arm, shake the medium-size plastic bottle and then place it back.", + "Grasp the red bottle with curved grooves with the left arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Grab the red bottle with narrow neck and move it to shake.", + "Pick the handheld plastic bottle, shake it with the left arm.", + "Shake the red bottle with white bottom text after grabbing it.", + "Lift up the medium-size plastic bottle using the left arm, then shake.", + "Shake the the bottle with red cap properly after lifting.", + "Shake the bottle with red cap thoroughly after grabbing it.", + "Use the left arm to grab the bottle with red cap and shake it.", + "Use the left arm to lift and shake the smooth red cylindrical bottle.", + "Secure the red bottle with white bottom text and perform a shake.", + "Shake the red bottle with screw cap using the left arm after grabbing.", + "Shake the plastic bottle firmly after grabbing.", + "Hold and shake the the yellow text bottle carefully.", + "Hold the yellow text bottle, shake it briefly.", + "Grab the handheld plastic bottle and shake it steadily.", + "Use the left arm to pick and shake the red bottle with white bottom text.", + "Utilize the left arm to hold the plastic bottle with bright red color and shake it.", + "Use the left arm to grab the handheld plastic bottle and shake properly." + ], + "unseen": [ + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the shiny red bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Pick up the shiny red bottle with the left arm and shake.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the bottle with white and yellow label and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters with the left arm and shake.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the shiny red bottle and shake it.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Use the left arm to pick the shiny red bottle.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Grab the bottle with white and yellow label and shake it.", + "Shake the bottle with white and yellow label after picking it with the left arm.", + "Use the left arm to grab the shiny red bottle and shake.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Use the left arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the bottle with white and yellow label and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters with the left arm and shake.", + "Use the left arm to pick the bottle with yellow Chinese characters.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with white and yellow label with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the shiny red bottle after picking it with the left arm.", + "Use the left arm to grab the shiny red bottle and shake.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Use the left arm to pick the shiny red bottle.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the shiny red bottle with the left arm.", + "Grab the bottle with white and yellow label and shake it.", + "Shake the shiny red bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label with the left arm and shake.", + "Use the left arm to pick the bottle with white and yellow label.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the left arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the left arm.", + "Use the left arm to grab the shiny red bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode347.json b/shake_bottle/ur5_randomized_500/instructions/episode347.json new file mode 100644 index 0000000000000000000000000000000000000000..d37caa348f3eb70bb9569f19393dc185c8e8eed6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode347.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle up using the left arm and shake it.", + "Using the left arm, shake the plastic bottle with colored label and then place it back.", + "Take the green bottle using the left arm and give it a shake.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Shake the plastic bottle with colored label after grabbing it.", + "Grab the medium bottle with green body using the left arm, then shake.", + "Shake the the bottle with yellow cap properly after lifting.", + "Use the left arm to lift and shake the medium bottle with green body.", + "Use the left arm to grab the cylindrical bottle with rounded cap and shake it.", + "Hold the cylindrical liquid bottle with yellow top with the left arm and shake lightly.", + "Secure the smooth green and yellow bottle and perform a shake.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Utilize the left arm to hold the cylindrical bottle with rounded cap and shake it.", + "Use the left arm to lift and shake the green bottle with white label.", + "Shake the green bottle with black text label after grabbing it.", + "Pick up the cylindrical bottle with rounded cap and shake it well.", + "Pick the green bottle with white label, shake it with the left arm.", + "Hold the plastic bottle with colored label, shake it briefly.", + "Shake the handheld plastic bottle firmly after grabbing.", + "Grab the medium bottle with green body and give it a shake.", + "Grab and shake the handheld plastic bottle using the left arm.", + "With the left arm, pick the green bottle with black text label and shake properly.", + "Pick the green bottle and perform shaking motion.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Catch the green bottle and shake it instantly.", + "Grab the cylindrical liquid bottle with yellow top carefully and shake.", + "Shake the green bottle with black text label using the left arm after grabbing.", + "Grip the smooth green and yellow bottle using the left arm and shake.", + "Grab the medium bottle with green body with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Hold the green bottle with black text label steady, then shake it.", + "Lift the smooth green and yellow bottle with the left arm and give it a shake.", + "Lift the cylindrical bottle with rounded cap with the left arm and shake it.", + "Shake the handheld plastic bottle after lifting it.", + "Hold the bottle with yellow cap and shake it properly.", + "Grab the green bottle with black text label and shake it steadily.", + "Lift up the handheld plastic bottle using the left arm, then shake.", + "Lift the bottle with glossy plastic finish with the left arm and shake.", + "Lift the medium bottle with green body and shake it gently.", + "Grab the cylindrical liquid bottle with yellow top firmly, shake it, and put it down.", + "Shake the plastic bottle after grabbing it.", + "Grasp the cylindrical bottle with rounded cap with the left arm and shake it.", + "Shake the green bottle with black text label after holding it firmly.", + "Pick the green bottle with white label up with the left arm and shake.", + "Grab the green bottle with white label and move it to shake.", + "Hold and shake the the green bottle with black text label carefully.", + "Secure the green bottle with black text label, shake it, and place it down.", + "Use the left arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Use the left arm to pick and shake the smooth green and yellow bottle.", + "Pick the green bottle with black text label up using the left arm and shake it.", + "Using the left arm, shake the cylindrical liquid bottle with yellow top and then place it back.", + "Take the green bottle with white label using the left arm and give it a shake.", + "Shake the handheld plastic bottle thoroughly after grabbing it.", + "Lift the plastic bottle with colored label and shake it thoroughly.", + "Shake the bottle with glossy plastic finish after grabbing it.", + "Grab the green bottle using the left arm, then shake.", + "Shake the the cylindrical bottle with rounded cap properly after lifting.", + "Use the left arm to lift and shake the handheld plastic bottle.", + "Use the left arm to grab the medium bottle with green body and shake it.", + "Hold the cylindrical bottle with rounded cap with the left arm and shake lightly.", + "Secure the bottle with glossy plastic finish and perform a shake.", + "Use the left arm to lift and shake the green bottle with white label.", + "Utilize the left arm to hold the green bottle and shake it.", + "Use the left arm to lift and shake the handheld plastic bottle.", + "Shake the handheld plastic bottle after grabbing it.", + "Pick up the smooth green and yellow bottle and shake it well.", + "Pick the bottle with glossy plastic finish, shake it with the left arm.", + "Hold the handheld plastic bottle, shake it briefly.", + "Shake the green bottle firmly after grabbing.", + "Grab the bottle with glossy plastic finish and give it a shake.", + "Grab and shake the green bottle with white label using the left arm.", + "With the left arm, pick the smooth green and yellow bottle and shake properly.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Use the left arm to grab the cylindrical bottle with rounded cap and shake properly.", + "Catch the bottle with glossy plastic finish and shake it instantly.", + "Grab the medium bottle with green body carefully and shake.", + "Shake the green bottle with black text label using the left arm after grabbing.", + "Grip the plastic bottle using the left arm and shake.", + "Grab the green bottle with black text label with the left arm and shake.", + "Pick up the plastic bottle with colored label and shake it.", + "Hold the green bottle with black text label steady, then shake it.", + "Lift the green bottle with the left arm and give it a shake.", + "Lift the smooth green and yellow bottle with the left arm and shake it.", + "Shake the medium bottle with green body after lifting it.", + "Hold the green bottle and shake it properly.", + "Grab the green bottle with white label and shake it steadily.", + "Lift up the bottle with glossy plastic finish using the left arm, then shake.", + "Lift the plastic bottle with the left arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Grab the green bottle with black text label firmly, shake it, and put it down.", + "Shake the green bottle after grabbing it.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the green bottle with white label after holding it firmly.", + "Pick the smooth green and yellow bottle up with the left arm and shake.", + "Grab the cylindrical bottle with rounded cap and move it to shake.", + "Hold and shake the the cylindrical bottle with rounded cap carefully.", + "Secure the cylindrical bottle with rounded cap, shake it, and place it down.", + "Use the left arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Use the left arm to pick and shake the smooth green and yellow bottle." + ], + "unseen": [ + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Use the left arm to pick the bottle with green base and black prints.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Use the left arm to pick the medium-sized drink bottle.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Shake the bottle with green base and black prints after picking it with the left arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Grab the medium-sized drink bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode348.json b/shake_bottle/ur5_randomized_500/instructions/episode348.json new file mode 100644 index 0000000000000000000000000000000000000000..1d2e97d086faba7700612a16630c07ea97f9a8c1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode348.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Pick the rectangular-shaped bottle with round cap up using the left arm and shake it.", + "Shake the the rectangular brown body with white top properly after lifting.", + "Catch the dark brown bottle with a squared body and shake it instantly.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Shake the smooth brown bottle with green label after lifting it.", + "With the left arm, pick the medium-sized brown plastic bottle and shake properly.", + "Lift the plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth plastic bottle with white cap.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Pick the brown bottle up with the left arm and shake.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Pick up the rectangular-shaped bottle with round cap and shake it well.", + "Grasp the bottle with green cap with the left arm and shake it.", + "Use the left arm to pick and shake the smooth brown bottle with green label.", + "Hold the dark brown bottle with a squared body, shake it briefly.", + "Lift the medium-sized brown plastic bottle and shake it gently.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick the medium-sized brown plastic bottle and perform shaking motion.", + "Grab the medium bottle with glossy surface and shake it steadily.", + "Utilize the left arm to hold the brown bottle and shake it.", + "Lift the bottle with green cap with the left arm and shake it.", + "Lift the smooth brown bottle with green label with the left arm and give it a shake.", + "Grab the smooth brown bottle with green label with the left arm and shake.", + "Hold and shake the the rectangular-shaped bottle with round cap carefully.", + "Pick the medium-sized brown plastic bottle, shake it with the left arm.", + "Lift up the brown bottle using the left arm, then shake.", + "Secure the dark brown bottle with a squared body and perform a shake.", + "Hold the dark brown bottle with a squared body with the left arm and shake lightly.", + "Pick up the dark brown bottle with a squared body and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Use the left arm to grab the rectangular brown body with white top and shake it.", + "Grab the smooth brown bottle with green label carefully and shake.", + "Use the left arm to hold the brown bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the bottle with green cap after grabbing it.", + "Grab the medium-sized brown plastic bottle and move it to shake.", + "Grab and shake the plastic bottle using the left arm.", + "Grip the dark brown bottle with a squared body using the left arm and shake.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Shake the dark brown bottle with a squared body after holding it firmly.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Hold the dark brown bottle with a squared body and shake it properly.", + "Using the left arm, shake the bottle with green cap and then place it back.", + "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.", + "Secure the bottle with flat sides and logo, shake it, and place it down.", + "Grab the medium bottle with glossy surface using the left arm, then shake.", + "Lift the bottle with flat sides and logo and shake it thoroughly.", + "Pick the rectangular-shaped bottle with round cap up using the left arm and shake it.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Catch the plastic bottle and shake it instantly.", + "Shake the bottle with green cap after grabbing it.", + "Shake the smooth brown bottle with green label after lifting it.", + "With the left arm, pick the brown bottle with rounded rectangular shape and shake properly.", + "Lift the rectangular brown body with white top with the left arm and shake.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Use the left arm to grab the medium bottle with glossy surface and shake properly.", + "Pick the bottle with flat sides and logo up with the left arm and shake.", + "Grab the rectangular-shaped bottle with round cap firmly, shake it, and put it down.", + "Pick up the bottle with flat sides and logo and shake it well.", + "Grasp the bottle with green cap with the left arm and shake it.", + "Use the left arm to pick and shake the brown bottle with rounded rectangular shape.", + "Hold the smooth plastic bottle with white cap, shake it briefly.", + "Lift the plastic bottle and shake it gently.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "Pick the smooth plastic bottle with white cap and perform shaking motion.", + "Grab the medium-sized brown plastic bottle and shake it steadily.", + "Utilize the left arm to hold the medium bottle with glossy surface and shake it.", + "Lift the brown bottle with rounded rectangular shape with the left arm and shake it.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grab the dark brown bottle with a squared body with the left arm and shake.", + "Hold and shake the the dark brown bottle with a squared body carefully.", + "Pick the medium-sized brown plastic bottle, shake it with the left arm.", + "Lift up the dark brown bottle with a squared body using the left arm, then shake.", + "Secure the medium-sized brown plastic bottle and perform a shake.", + "Hold the rectangular brown body with white top with the left arm and shake lightly.", + "Pick up the medium bottle with glossy surface and shake it.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Use the left arm to grab the smooth plastic bottle with white cap and shake it.", + "Grab the rectangular-shaped bottle with round cap carefully and shake.", + "Use the left arm to hold the medium-sized brown plastic bottle and shake it.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Grab the bottle with green cap and move it to shake.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Grip the dark brown bottle with a squared body using the left arm and shake.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Shake the smooth brown bottle with green label firmly after grabbing.", + "Shake the brown bottle with rounded rectangular shape after holding it firmly.", + "Shake the bottle with green cap after grabbing it.", + "Shake the smooth plastic bottle with white cap using the left arm after grabbing.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Using the left arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Take the medium-sized brown plastic bottle using the left arm and give it a shake.", + "Secure the medium-sized brown plastic bottle, shake it, and place it down.", + "Grab the bottle with flat sides and logo using the left arm, then shake." + ], + "unseen": [ + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode349.json b/shake_bottle/ur5_randomized_500/instructions/episode349.json new file mode 100644 index 0000000000000000000000000000000000000000..21115356dfe28583b393df7d38f854934efa0b3a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode349.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow bottle with a green design with the left arm and shake.", + "Grip the rectangular bottle with cylindrical neck using the left arm and shake.", + "Pick the bottle with green and white labels up using the left arm and shake it.", + "Lift the yellow container with rounded edges and shake it thoroughly.", + "Using the left arm, shake the bottle with a smooth plastic body and then place it back.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Secure the yellow bottle, shake it, and place it down.", + "Shake the bottle with green label using the left arm after grabbing.", + "Grab the bottle with a smooth plastic body carefully and shake.", + "Hold the medium rectangular yellow bottle steady, then shake it.", + "Take the bottle with green and white labels using the left arm and give it a shake.", + "Lift the yellow plastic bottle with white top with the left arm and give it a shake.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Hold and shake the the bottle with green label carefully.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Shake the yellow bottle after holding it firmly.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the the rectangular bottle with cylindrical neck properly after lifting.", + "Use the left arm to lift and shake the bottle with white cap.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Use the left arm to hold the bottle with a smooth plastic body and shake it.", + "Use the left arm to grab the bottle with white cap and shake it.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Grab the yellow plastic bottle with white top using the left arm, then shake.", + "Shake the yellow bottle after grabbing it.", + "Secure the yellow container with rounded edges and perform a shake.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Grab the yellow bottle with the left arm and shake.", + "Hold the bottle with white cap and shake it properly.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "With the left arm, pick the bottle with a smooth plastic body and shake properly.", + "Use the left arm to lift and shake the bottle with green label.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Grab the bottle with green label and give it a shake.", + "Grab the bottle with green and white labels and move it to shake.", + "Pick up the yellow container with rounded edges and shake it.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to grab the bottle with green label and shake properly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to pick and shake the yellow bottle with a green design.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Lift the bottle with green and white labels and shake it gently.", + "Grab and shake the medium rectangular yellow bottle using the left arm.", + "Lift the bottle with green and white labels with the left arm and shake.", + "Grip the medium rectangular yellow bottle using the left arm and shake.", + "Pick the bottle with green label up using the left arm and shake it.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Using the left arm, shake the bottle with green label and then place it back.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Shake the bottle with a smooth plastic body using the left arm after grabbing.", + "Grab the bottle with a smooth plastic body carefully and shake.", + "Hold the yellow container with rounded edges steady, then shake it.", + "Take the medium rectangular yellow bottle using the left arm and give it a shake.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Hold the smooth bottle with rounded edges, shake it briefly.", + "Hold and shake the the smooth bottle with rounded edges carefully.", + "Shake the yellow bottle after grabbing it.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Shake the bottle with a smooth plastic body after holding it firmly.", + "Grasp the yellow container with rounded edges with the left arm and shake it.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Use the left arm to lift and shake the medium rectangular yellow bottle.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Use the left arm to hold the yellow bottle and shake it.", + "Use the left arm to grab the yellow bottle and shake it.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "Grab the rectangular bottle with cylindrical neck using the left arm, then shake.", + "Shake the bottle with white cap after grabbing it.", + "Secure the bottle with white cap and perform a shake.", + "Hold the yellow bottle with a green design with the left arm and shake lightly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Lift up the bottle with green label using the left arm, then shake.", + "Grab the yellow bottle with the left arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Pick the bottle with white cap up with the left arm and shake.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Shake the rectangular bottle with cylindrical neck after lifting it.", + "Pick up the bottle with a smooth plastic body and shake it well.", + "With the left arm, pick the yellow plastic bottle with white top and shake properly.", + "Use the left arm to lift and shake the medium rectangular yellow bottle.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Grab the bottle with green label and give it a shake.", + "Grab the plastic bottle and move it to shake.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Pick the bottle with a smooth plastic body, shake it with the left arm.", + "Use the left arm to grab the bottle with a smooth plastic body and shake properly.", + "Utilize the left arm to hold the medium rectangular yellow bottle and shake it.", + "Use the left arm to pick and shake the yellow bottle.", + "Grab the bottle with green and white labels firmly, shake it, and put it down.", + "Lift the yellow bottle and shake it gently.", + "Grab and shake the medium rectangular yellow bottle using the left arm." + ], + "unseen": [ + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode35.json b/shake_bottle/ur5_randomized_500/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..c5b2c7865fb2a4539310c811c8f4deec54215f63 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the plastic bottle.", + "Shake the plastic bottle after grabbing it.", + "Pick the yellow text bottle up using the right arm and shake it.", + "Hold the red bottle with curved grooves steady, then shake it.", + "Use the right arm to grab the red bottle with white bottom text and shake it.", + "Lift the medium-size plastic bottle and shake it gently.", + "Shake the medium-size plastic bottle after holding it firmly.", + "With the right arm, pick the red bottle with white bottom text and shake properly.", + "Lift the bottle with red cap and shake it thoroughly.", + "Grab the red bottle with narrow neck with the right arm and shake.", + "Grab the red bottle with narrow neck and give it a shake.", + "Shake the yellow text bottle thoroughly after grabbing it.", + "Grab the handheld plastic bottle firmly, shake it, and put it down.", + "Pick the medium-size plastic bottle and perform shaking motion.", + "Grab the yellow text bottle and move it to shake.", + "Grasp the red bottle with the right arm and shake it.", + "Shake the yellow text bottle after grabbing it.", + "Pick up the red bottle with screw cap and shake it.", + "Use the right arm to lift and shake the red bottle with narrow neck.", + "Shake the smooth red cylindrical bottle firmly after grabbing.", + "Hold the medium-size plastic bottle and shake it properly.", + "Pick the yellow text bottle, shake it with the right arm.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Hold the yellow text bottle, shake it briefly.", + "Using the right arm, shake the bottle with red cap and then place it back.", + "Pick up the plastic bottle and shake it well.", + "Grab the plastic bottle with bright red color and shake it steadily.", + "Lift the red bottle with screw cap with the right arm and shake it.", + "Grab the red bottle with curved grooves carefully and shake.", + "Use the right arm to hold the bottle with red cap and shake it.", + "Shake the smooth red cylindrical bottle after lifting it.", + "Grab and shake the bottle with red cap using the right arm.", + "Catch the handheld plastic bottle and shake it instantly.", + "Hold and shake the the red bottle with white bottom text carefully.", + "Shake the medium-size plastic bottle using the right arm after grabbing.", + "Pick the red bottle with white bottom text up with the right arm and shake.", + "Take the red bottle with screw cap using the right arm and give it a shake.", + "Use the right arm to pick and shake the plastic bottle.", + "Lift the smooth red cylindrical bottle with the right arm and shake.", + "Secure the red bottle with narrow neck and perform a shake.", + "Lift the yellow text bottle with the right arm and give it a shake.", + "Grip the bottle with red cap using the right arm and shake.", + "Use the right arm to grab the red bottle with white bottom text and shake properly.", + "Shake the the handheld plastic bottle properly after lifting.", + "Hold the red bottle with white bottom text with the right arm and shake lightly.", + "Secure the red bottle with curved grooves, shake it, and place it down.", + "Use the right arm to lift and shake the red bottle with white bottom text.", + "Grab the red bottle with white bottom text using the right arm, then shake.", + "Shake the red bottle after grabbing it.", + "Lift up the medium-size plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the yellow text bottle.", + "Shake the plastic bottle after grabbing it.", + "Pick the smooth red cylindrical bottle up using the right arm and shake it.", + "Hold the red bottle with curved grooves steady, then shake it.", + "Use the right arm to grab the red bottle and shake it.", + "Lift the red bottle with screw cap and shake it gently.", + "Shake the red bottle with white bottom text after holding it firmly.", + "With the right arm, pick the medium-size plastic bottle and shake properly.", + "Lift the red bottle with narrow neck and shake it thoroughly.", + "Grab the plastic bottle with the right arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Shake the red bottle with screw cap thoroughly after grabbing it.", + "Grab the red bottle with curved grooves firmly, shake it, and put it down.", + "Pick the bottle with red cap and perform shaking motion.", + "Grab the red bottle with narrow neck and move it to shake.", + "Grasp the red bottle with narrow neck with the right arm and shake it.", + "Shake the red bottle with screw cap after grabbing it.", + "Pick up the plastic bottle with bright red color and shake it.", + "Use the right arm to lift and shake the red bottle with narrow neck.", + "Shake the bottle with red cap firmly after grabbing.", + "Hold the smooth red cylindrical bottle and shake it properly.", + "Pick the smooth red cylindrical bottle, shake it with the right arm.", + "Utilize the right arm to hold the bottle with red cap and shake it.", + "Hold the bottle with red cap, shake it briefly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Pick up the handheld plastic bottle and shake it well.", + "Grab the red bottle with screw cap and shake it steadily.", + "Lift the bottle with red cap with the right arm and shake it.", + "Grab the plastic bottle with bright red color carefully and shake.", + "Use the right arm to hold the handheld plastic bottle and shake it.", + "Shake the red bottle with curved grooves after lifting it.", + "Grab and shake the red bottle with narrow neck using the right arm.", + "Catch the red bottle with curved grooves and shake it instantly.", + "Hold and shake the the yellow text bottle carefully.", + "Shake the plastic bottle with bright red color using the right arm after grabbing.", + "Pick the yellow text bottle up with the right arm and shake.", + "Take the medium-size plastic bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the bottle with red cap.", + "Lift the red bottle with narrow neck with the right arm and shake.", + "Secure the bottle with red cap and perform a shake.", + "Lift the red bottle with the right arm and give it a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Use the right arm to grab the bottle with red cap and shake properly.", + "Shake the the bottle with red cap properly after lifting.", + "Hold the medium-size plastic bottle with the right arm and shake lightly.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to lift and shake the red bottle with white bottom text.", + "Grab the red bottle with screw cap using the right arm, then shake.", + "Shake the plastic bottle with bright red color after grabbing it.", + "Lift up the yellow text bottle using the right arm, then shake." + ], + "unseen": [ + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the shiny red bottle with the right arm.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Grab the shiny red bottle and give it a shake.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the shiny red bottle and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Pick up the shiny red bottle with the right arm and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Grab the bottle with white and yellow label and give it a shake.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the shiny red bottle with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Grab the bottle with white and yellow label and give it a shake.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the shiny red bottle with the right arm.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Grab the shiny red bottle and give it a shake.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the shiny red bottle and shake it.", + "Pick and shake the the shiny red bottle with the right arm.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Shake the shiny red bottle after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Pick up the shiny red bottle with the right arm and shake.", + "Grab the bottle with white and yellow label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode350.json b/shake_bottle/ur5_randomized_500/instructions/episode350.json new file mode 100644 index 0000000000000000000000000000000000000000..f7fb098479fa31eaba79c6f97f76ec8509ea12aa --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode350.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab the bottle for liquids using the left arm, then shake.", + "Lift up the plastic bottle with sealed yellow cap using the left arm, then shake.", + "Grab and shake the bottle with printed label using the left arm.", + "Use the left arm to grab the yellow-capped plastic bottle and shake properly.", + "Grip the bottle with narrow neck using the left arm and shake.", + "Shake the bottle with printed label firmly after grabbing.", + "Grab the bottle with yellow cap and shake it steadily.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Hold the bottle with narrow neck and shake it properly.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Hold the plastic bottle with sealed yellow cap steady, then shake it.", + "Shake the the smooth plastic bottle properly after lifting.", + "Shake the bottle with yellow cap after grabbing it.", + "Lift the yellow-capped plastic bottle with the left arm and shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Grab the medium-sized orange bottle with the left arm and shake.", + "Lift the bottle for liquids with the left arm and give it a shake.", + "Utilize the left arm to hold the medium-sized orange bottle and shake it.", + "Grab the orange bottle carefully and shake.", + "Hold and shake the the bottle with narrow neck carefully.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Using the left arm, shake the bottle with printed label and then place it back.", + "Use the left arm to pick and shake the orange bottle.", + "Grab the bottle with narrow neck and give it a shake.", + "Secure the bottle with narrow neck and perform a shake.", + "Take the bottle for liquids using the left arm and give it a shake.", + "Lift the medium-sized orange bottle and shake it gently.", + "Shake the orange bottle after holding it firmly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the bottle with printed label after lifting it.", + "Shake the bottle for liquids after grabbing it.", + "Catch the plastic bottle and shake it instantly.", + "Pick up the bottle with narrow neck and shake it.", + "With the left arm, pick the bottle with narrow neck and shake properly.", + "Pick the yellow-capped plastic bottle up using the left arm and shake it.", + "Shake the bottle for liquids after grabbing it.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Hold the orange cylindrical bottle, shake it briefly.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Grab the bottle with yellow cap and move it to shake.", + "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.", + "Lift the bottle with printed label with the left arm and shake it.", + "Pick up the bottle with printed label and shake it well.", + "Hold the bottle with printed label with the left arm and shake lightly.", + "Secure the orange bottle, shake it, and place it down.", + "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.", + "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.", + "Use the left arm to hold the orange cylindrical bottle and shake it.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Pick the bottle with printed label, shake it with the left arm.", + "Grab the bottle with narrow neck using the left arm, then shake.", + "Lift up the orange cylindrical bottle using the left arm, then shake.", + "Grab and shake the cylindrical orange bottle with yellow top using the left arm.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Grip the cylindrical orange bottle with yellow top using the left arm and shake.", + "Shake the bottle with narrow neck firmly after grabbing.", + "Grab the bottle with yellow cap and shake it steadily.", + "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.", + "Hold the orange cylindrical bottle and shake it properly.", + "Shake the bottle with yellow cap using the left arm after grabbing.", + "Hold the bottle with narrow neck steady, then shake it.", + "Shake the the medium-sized orange bottle properly after lifting.", + "Shake the orange cylindrical bottle after grabbing it.", + "Lift the bottle with yellow cap with the left arm and shake.", + "Pick the plastic bottle with sealed yellow cap up with the left arm and shake.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Lift the orange bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Grab the cylindrical orange bottle with yellow top carefully and shake.", + "Hold and shake the the orange cylindrical bottle carefully.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Using the left arm, shake the bottle with printed label and then place it back.", + "Use the left arm to pick and shake the orange bottle.", + "Grab the bottle with narrow neck and give it a shake.", + "Secure the medium-sized orange bottle and perform a shake.", + "Take the bottle with narrow neck using the left arm and give it a shake.", + "Lift the bottle with printed label and shake it gently.", + "Shake the cylindrical orange bottle with yellow top after holding it firmly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the cylindrical orange bottle with yellow top after lifting it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Pick up the bottle with printed label and shake it.", + "With the left arm, pick the medium-sized orange bottle and shake properly.", + "Pick the orange bottle up using the left arm and shake it.", + "Shake the bottle for liquids after grabbing it.", + "Grasp the yellow-capped plastic bottle with the left arm and shake it.", + "Hold the bottle with narrow neck, shake it briefly.", + "Grab the orange cylindrical bottle firmly, shake it, and put it down.", + "Grab the bottle with printed label and move it to shake.", + "Shake the orange bottle thoroughly after grabbing it.", + "Lift the orange bottle with the left arm and shake it.", + "Pick up the yellow-capped plastic bottle and shake it well.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Secure the orange bottle, shake it, and place it down.", + "Lift the bottle with narrow neck and shake it thoroughly.", + "Use the left arm to grab the medium-sized orange bottle and shake it.", + "Use the left arm to hold the orange bottle and shake it." + ], + "unseen": [ + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode351.json b/shake_bottle/ur5_randomized_500/instructions/episode351.json new file mode 100644 index 0000000000000000000000000000000000000000..6b1818ffc76d47d4284b7a7a5db7115c03286a54 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode351.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white-capped brown cylindrical bottle with the left arm and shake.", + "Pick the smooth brown bottle up with the left arm and shake.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Shake the handheld brown bottle with white lid thoroughly after grabbing it.", + "Use the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Grab the smooth brown bottle and move it to shake.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Lift the smooth brown bottle and shake it gently.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Secure the plastic bottle with printed label, shake it, and place it down.", + "Pick the bottle with brown body and white top up using the left arm and shake it.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Using the left arm, shake the bottle with brown body and white top and then place it back.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Take the smooth brown bottle using the left arm and give it a shake.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Grab the cylindrical bottle with narrow neck with the left arm and shake.", + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake it.", + "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Hold and shake the the rounded bottle with printed details carefully.", + "Shake the handheld brown bottle with white lid using the left arm after grabbing.", + "Use the left arm to pick and shake the bottle with dark brown color.", + "Shake the bottle with brown body and white top after grabbing it.", + "Use the left arm to grab the medium plastic bottle and shake properly.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Shake the cylindrical bottle with narrow neck after lifting it.", + "Shake the bottle with brown body and white top after grabbing it.", + "Pick up the rounded bottle with printed details and shake it.", + "Lift up the medium plastic bottle using the left arm, then shake.", + "With the left arm, pick the plastic bottle with printed label and shake properly.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Grab the handheld brown bottle with white lid and give it a shake.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Grab the bottle with brown body and white top carefully and shake.", + "Pick the smooth brown bottle, shake it with the left arm.", + "Shake the the bottle with brown body and white top properly after lifting.", + "Grab and shake the medium plastic bottle using the left arm.", + "Grab the bottle with dark brown color using the left arm, then shake.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it.", + "Grip the cylindrical bottle with narrow neck using the left arm and shake.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Secure the bottle with white cap and perform a shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Shake the bottle with dark brown color firmly after grabbing.", + "Lift the bottle with white cap with the left arm and shake.", + "Pick the smooth brown bottle up with the left arm and shake.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Use the left arm to hold the smooth brown bottle and shake it.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Shake the smooth brown bottle after grabbing it.", + "Lift the plastic bottle with printed label and shake it gently.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Secure the plastic bottle with printed label, shake it, and place it down.", + "Pick the medium bottle with smooth texture up using the left arm and shake it.", + "Shake the smooth brown bottle after holding it firmly.", + "Using the left arm, shake the plastic bottle for liquids and then place it back.", + "Hold the medium bottle with smooth texture with the left arm and shake lightly.", + "Take the rounded bottle with printed details using the left arm and give it a shake.", + "Grab the bottle with white cap and shake it steadily.", + "Grab the bottle with brown body and white top with the left arm and shake.", + "Pick up the rounded bottle with printed details and shake it well.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Use the left arm to grab the bottle with brown body and white top and shake it.", + "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Hold and shake the the rounded bottle with printed details carefully.", + "Shake the medium plastic bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the bottle with dark brown color.", + "Shake the rounded bottle with printed details after grabbing it.", + "Use the left arm to grab the plastic bottle for liquids and shake properly.", + "Lift the bottle with dark brown color with the left arm and give it a shake.", + "Shake the bottle with dark brown color after lifting it.", + "Shake the bottle with dark brown color after grabbing it.", + "Pick up the plastic bottle with printed label and shake it.", + "Lift up the cylindrical bottle with narrow neck using the left arm, then shake.", + "With the left arm, pick the bottle with dark brown color and shake properly.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Grab the rounded bottle with printed details and give it a shake.", + "Grasp the plastic bottle for liquids with the left arm and shake it.", + "Grab the bottle with dark brown color carefully and shake.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Grab and shake the plastic bottle with printed label using the left arm.", + "Grab the medium plastic bottle using the left arm, then shake.", + "Lift the handheld brown bottle with white lid with the left arm and shake it.", + "Grip the bottle with dark brown color using the left arm and shake.", + "Hold the bottle with dark brown color steady, then shake it.", + "Secure the plastic bottle for liquids and perform a shake.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Grab the smooth brown bottle firmly, shake it, and put it down.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Shake the bottle with dark brown color firmly after grabbing." + ], + "unseen": [ + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode352.json b/shake_bottle/ur5_randomized_500/instructions/episode352.json new file mode 100644 index 0000000000000000000000000000000000000000..41163f7ad5dcfc57cf8dc09f023fd8688a3765c3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode352.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the green bottle with indented base with the right arm and shake it.", + "Lift the bottle with rounded neck and shake it gently.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Grab the bottle with white printed label using the right arm, then shake.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Hold the smooth green bottle and shake it properly.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the medium green bottle and give it a shake.", + "Secure the bottle with ridges near base and perform a shake.", + "Use the right arm to pick and shake the handheld green bottle.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Pick the handheld green bottle up with the right arm and shake.", + "Grip the handheld green bottle using the right arm and shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Lift the handheld green bottle with the right arm and shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Catch the handheld green bottle and shake it instantly.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Shake the medium green bottle with capped neck after grabbing it.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Grab the handheld green bottle and shake it steadily.", + "Take the medium green bottle using the right arm and give it a shake.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the medium green bottle with capped neck after lifting it.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Lift the smooth green bottle and shake it thoroughly.", + "Use the right arm to lift and shake the handheld green bottle.", + "Shake the bottle with white printed label after holding it firmly.", + "Hold the medium green bottle, shake it briefly.", + "Grab and shake the bottle with narrow top using the right arm.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Shake the bottle with white printed label after grabbing it.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Hold the handheld green bottle steady, then shake it.", + "Use the right arm to hold the medium green bottle and shake it.", + "Pick up the green bottle with indented base and shake it.", + "Grab the bottle with white printed label carefully and shake.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Lift the smooth green bottle and shake it gently.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Grab the plastic bottle using the right arm, then shake.", + "Pick the medium green bottle and perform shaking motion.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the bottle with white printed label and give it a shake.", + "Secure the green bottle with indented base and perform a shake.", + "Use the right arm to pick and shake the handheld green bottle.", + "Hold and shake the the handheld green bottle carefully.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Pick the plastic bottle up with the right arm and shake.", + "Grip the bottle with white printed label using the right arm and shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Lift the smooth green bottle with the right arm and shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Catch the bottle with narrow top and shake it instantly.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Shake the bottle with rounded neck after grabbing it.", + "With the right arm, pick the medium green bottle with capped neck and shake properly.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab the handheld green bottle and shake it steadily.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Grab the bottle with rounded neck and move it to shake.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Shake the medium green bottle with capped neck after lifting it.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Hold the bottle with narrow top, shake it briefly.", + "Grab and shake the handheld green bottle using the right arm.", + "Shake the the plastic bottle properly after lifting.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Pick the smooth green bottle, shake it with the right arm.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the right arm to grab the medium green bottle and shake it.", + "Hold the handheld green bottle steady, then shake it.", + "Use the right arm to hold the medium green bottle and shake it.", + "Pick up the smooth green bottle and shake it.", + "Grab the plastic bottle carefully and shake." + ], + "unseen": [ + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode353.json b/shake_bottle/ur5_randomized_500/instructions/episode353.json new file mode 100644 index 0000000000000000000000000000000000000000..282af3ff90f5e9d75eefffe3844562a5a1b14645 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode353.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bottle for holding drinks and shake it well.", + "Grab the bottle for holding drinks using the left arm, then shake.", + "Lift the light and medium-sized bottle with the left arm and shake.", + "Hold the smooth orange bottle with the left arm and shake lightly.", + "Pick the light and medium-sized bottle up using the left arm and shake it.", + "Shake the orange drink bottle with label after grabbing it.", + "Take the bottle for holding drinks using the left arm and give it a shake.", + "Pick up the smooth orange bottle and shake it.", + "Grab the medium bottle with colorful label with the left arm and shake.", + "Shake the curved orange soda bottle firmly after grabbing.", + "Grasp the bottle for holding drinks with the left arm and shake it.", + "Hold the plastic bottle and shake it properly.", + "Grab the plastic bottle and move it to shake.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Secure the grooved orange drink bottle and perform a shake.", + "Use the left arm to grab the orange bottle and shake properly.", + "Pick the medium bottle with colorful label up with the left arm and shake.", + "Shake the the cylindrical orange plastic bottle properly after lifting.", + "Shake the curved orange soda bottle thoroughly after grabbing it.", + "Catch the orange bottle and shake it instantly.", + "Lift the curved orange soda bottle with the left arm and shake it.", + "Use the left arm to pick and shake the round-bottom bottle with white cap.", + "Lift the light and medium-sized bottle and shake it gently.", + "Shake the orange drink bottle with label after lifting it.", + "Use the left arm to lift and shake the orange bottle.", + "Shake the cylindrical orange plastic bottle after holding it firmly.", + "Hold the orange drink bottle with label steady, then shake it.", + "Hold and shake the the orange bottle carefully.", + "Use the left arm to hold the orange bottle and shake it.", + "Use the left arm to grab the orange drink bottle with label and shake it.", + "Grip the medium bottle with colorful label using the left arm and shake.", + "Grab the grooved orange drink bottle and shake it steadily.", + "Grab the grooved orange drink bottle and give it a shake.", + "Shake the orange drink bottle with label after grabbing it.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Grab and shake the smooth orange bottle using the left arm.", + "Using the left arm, shake the curved orange soda bottle and then place it back.", + "Lift the ridged orange bottle with grooves with the left arm and give it a shake.", + "Pick the bottle for holding drinks, shake it with the left arm.", + "Use the left arm to lift and shake the orange bottle.", + "Grab the plastic bottle carefully and shake.", + "Secure the bottle for holding drinks, shake it, and place it down.", + "Lift up the cylindrical orange plastic bottle using the left arm, then shake.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "With the left arm, pick the ridged orange bottle with grooves and shake properly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Pick up the orange drink bottle with label and shake it well.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift the cylindrical orange plastic bottle with the left arm and shake.", + "Hold the bottle for holding drinks with the left arm and shake lightly.", + "Pick the orange bottle up using the left arm and shake it.", + "Shake the medium bottle with colorful label after grabbing it.", + "Take the cylindrical orange plastic bottle using the left arm and give it a shake.", + "Pick up the orange drink bottle with label and shake it.", + "Grab the smooth orange bottle with the left arm and shake.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Grasp the curved orange soda bottle with the left arm and shake it.", + "Hold the grooved orange drink bottle and shake it properly.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Shake the orange drink bottle with label after grabbing it.", + "Hold the orange bottle, shake it briefly.", + "Secure the plastic bottle and perform a shake.", + "Use the left arm to grab the medium bottle with colorful label and shake properly.", + "Pick the smooth orange bottle up with the left arm and shake.", + "Shake the the grooved orange drink bottle properly after lifting.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Catch the orange bottle and shake it instantly.", + "Lift the cylindrical orange plastic bottle with the left arm and shake it.", + "Use the left arm to pick and shake the orange drink bottle with label.", + "Lift the light and medium-sized bottle and shake it gently.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Shake the grooved orange drink bottle after holding it firmly.", + "Hold the curved orange soda bottle steady, then shake it.", + "Hold and shake the the grooved orange drink bottle carefully.", + "Use the left arm to hold the orange bottle and shake it.", + "Use the left arm to grab the grooved orange drink bottle and shake it.", + "Grip the plastic bottle using the left arm and shake.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Grab the orange drink bottle with label and give it a shake.", + "Shake the light and medium-sized bottle after grabbing it.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Grab and shake the smooth orange bottle using the left arm.", + "Using the left arm, shake the round-bottom bottle with white cap and then place it back.", + "Lift the bottle for holding drinks with the left arm and give it a shake.", + "Pick the light and medium-sized bottle, shake it with the left arm.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Grab the light and medium-sized bottle carefully and shake.", + "Secure the round-bottom bottle with white cap, shake it, and place it down.", + "Lift up the curved orange soda bottle using the left arm, then shake.", + "Pick the smooth orange bottle and perform shaking motion.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Lift the plastic bottle and shake it thoroughly.", + "With the left arm, pick the orange bottle and shake properly.", + "Utilize the left arm to hold the bottle for holding drinks and shake it.", + "Shake the bottle for holding drinks using the left arm after grabbing." + ], + "unseen": [ + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with white cap and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode354.json b/shake_bottle/ur5_randomized_500/instructions/episode354.json new file mode 100644 index 0000000000000000000000000000000000000000..67e4fac8fa5016a5ab981ddeee02b4844640454d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode354.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the yellow capped drink bottle up using the right arm and shake it.", + "Lift the black cylindrical bottle with ridges and shake it thoroughly.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Use the right arm to grab the black bottle and shake properly.", + "Using the right arm, shake the bottle with blue and yellow print and then place it back.", + "Shake the medium black bottle with printed label thoroughly after grabbing it.", + "Grab the plastic bottle with colorful label and give it a shake.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Pick the smooth black bottle with ridges up with the right arm and shake.", + "Use the right arm to pick and shake the black plastic bottle with Pepsi logo.", + "Grab the beverage bottle with black body using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with blue and yellow print.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Hold the bottle with blue and yellow print and shake it properly.", + "Hold the black plastic bottle with Pepsi logo, shake it briefly.", + "Lift the medium black bottle with printed label and shake it gently.", + "Lift the beverage bottle with black body with the right arm and shake.", + "Use the right arm to grab the yellow capped drink bottle and shake it.", + "Catch the bottle with blue and yellow print and shake it instantly.", + "Lift the bottle with blue and yellow print with the right arm and give it a shake.", + "Utilize the right arm to hold the black cylindrical bottle with ridges and shake it.", + "Shake the black cylindrical bottle with ridges after lifting it.", + "Shake the beverage bottle with black body after grabbing it.", + "With the right arm, pick the medium black bottle with printed label and shake properly.", + "Hold the black bottle steady, then shake it.", + "Lift up the drink bottle with rounded yellow lid using the right arm, then shake.", + "Lift the bottle with blue and yellow print with the right arm and shake it.", + "Grab and shake the drink bottle with rounded yellow lid using the right arm.", + "Hold the bottle with blue and yellow print with the right arm and shake lightly.", + "Shake the drink bottle with rounded yellow lid using the right arm after grabbing.", + "Use the right arm to lift and shake the black cylindrical bottle with ridges.", + "Secure the medium bottle with yellow cap, shake it, and place it down.", + "Pick the plastic bottle with colorful label, shake it with the right arm.", + "Shake the beverage bottle with black body after grabbing it.", + "Grab the medium black bottle with printed label and shake it steadily.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Grasp the beverage bottle with black body with the right arm and shake it.", + "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.", + "Shake the medium bottle with yellow cap firmly after grabbing.", + "Grab the plastic bottle with colorful label firmly, shake it, and put it down.", + "Pick up the yellow capped drink bottle and shake it well.", + "Grab the smooth black bottle with ridges with the right arm and shake.", + "Secure the beverage bottle with black body and perform a shake.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Pick up the drink bottle with rounded yellow lid and shake it.", + "Grab the yellow-capped cylindrical bottle and move it to shake.", + "Grip the black bottle using the right arm and shake.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Use the right arm to hold the black cylindrical bottle with ridges and shake it.", + "Pick the black bottle up using the right arm and shake it.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Use the right arm to grab the medium bottle with yellow cap and shake properly.", + "Using the right arm, shake the medium bottle with yellow cap and then place it back.", + "Shake the beverage bottle with black body thoroughly after grabbing it.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Shake the medium bottle with yellow cap after holding it firmly.", + "Pick the beverage bottle with black body up with the right arm and shake.", + "Use the right arm to pick and shake the yellow-capped cylindrical bottle.", + "Grab the medium bottle with yellow cap using the right arm, then shake.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Hold the plastic bottle with colorful label and shake it properly.", + "Hold the plastic bottle with colorful label, shake it briefly.", + "Lift the medium bottle with yellow cap and shake it gently.", + "Lift the smooth black bottle with ridges with the right arm and shake.", + "Use the right arm to grab the yellow-capped cylindrical bottle and shake it.", + "Catch the black cylindrical bottle with ridges and shake it instantly.", + "Lift the black cylindrical bottle with ridges with the right arm and give it a shake.", + "Utilize the right arm to hold the drink bottle with rounded yellow lid and shake it.", + "Shake the black cylindrical bottle with ridges after lifting it.", + "Shake the beverage bottle with black body after grabbing it.", + "With the right arm, pick the drink bottle with rounded yellow lid and shake properly.", + "Hold the bottle with blue and yellow print steady, then shake it.", + "Lift up the smooth black bottle with ridges using the right arm, then shake.", + "Lift the bottle with blue and yellow print with the right arm and shake it.", + "Grab and shake the smooth black bottle with ridges using the right arm.", + "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.", + "Shake the yellow capped drink bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the black bottle.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.", + "Shake the black bottle after grabbing it.", + "Grab the beverage bottle with black body and shake it steadily.", + "Grab the medium black bottle with printed label carefully and shake.", + "Grasp the yellow-capped cylindrical bottle with the right arm and shake it.", + "Take the smooth black bottle with ridges using the right arm and give it a shake.", + "Shake the medium black bottle with printed label firmly after grabbing.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Pick up the black bottle and shake it well.", + "Grab the medium black bottle with printed label with the right arm and shake.", + "Secure the drink bottle with rounded yellow lid and perform a shake.", + "Shake the the beverage bottle with black body properly after lifting.", + "Pick up the drink bottle with rounded yellow lid and shake it.", + "Grab the black bottle and move it to shake.", + "Grip the plastic bottle with colorful label using the right arm and shake.", + "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.", + "Use the right arm to hold the black bottle and shake it." + ], + "unseen": [ + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode355.json b/shake_bottle/ur5_randomized_500/instructions/episode355.json new file mode 100644 index 0000000000000000000000000000000000000000..2f0de4c7cb1bc73c3ad1792bdd006d96e1f99172 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode355.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the rectangular brown body with white top steady, then shake it.", + "Shake the rectangular brown body with white top using the right arm after grabbing.", + "Hold the brown bottle, shake it briefly.", + "Utilize the right arm to hold the rectangular brown body with white top and shake it.", + "Lift up the brown bottle using the right arm, then shake.", + "Lift the bottle with flat sides and logo and shake it gently.", + "Lift the plastic bottle with the right arm and shake it.", + "Lift the brown bottle with rounded rectangular shape with the right arm and give it a shake.", + "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Take the medium bottle with glossy surface using the right arm and give it a shake.", + "Use the right arm to grab the brown bottle and shake it.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Pick the bottle with flat sides and logo and perform shaking motion.", + "Hold and shake the the medium bottle with glossy surface carefully.", + "Grab the bottle with flat sides and logo and give it a shake.", + "Shake the brown bottle after grabbing it.", + "Shake the medium-sized brown plastic bottle after holding it firmly.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Hold the smooth brown bottle with green label and shake it properly.", + "Lift the smooth plastic bottle with white cap and shake it thoroughly.", + "Pick up the bottle with green cap and shake it well.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Pick up the medium bottle with glossy surface and shake it.", + "Grab the plastic bottle carefully and shake.", + "Grab the dark brown bottle with a squared body and move it to shake.", + "Grasp the rectangular-shaped bottle with round cap with the right arm and shake it.", + "Grab the rectangular brown body with white top firmly, shake it, and put it down.", + "Grab the brown bottle and shake it steadily.", + "Grab the rectangular-shaped bottle with round cap with the right arm and shake.", + "Grab and shake the smooth brown bottle with green label using the right arm.", + "Grab the medium-sized brown plastic bottle using the right arm, then shake.", + "Pick the smooth brown bottle with green label up with the right arm and shake.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Use the right arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Use the right arm to lift and shake the rectangular brown body with white top.", + "Use the right arm to grab the medium-sized brown plastic bottle and shake properly.", + "Use the right arm to lift and shake the smooth brown bottle with green label.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Pick the bottle with flat sides and logo up using the right arm and shake it.", + "Pick the bottle with flat sides and logo, shake it with the right arm.", + "With the right arm, pick the dark brown bottle with a squared body and shake properly.", + "Use the right arm to pick and shake the brown bottle with rounded rectangular shape.", + "Lift the brown bottle with rounded rectangular shape with the right arm and shake.", + "Using the right arm, shake the bottle with flat sides and logo and then place it back.", + "Secure the brown bottle with rounded rectangular shape and perform a shake.", + "Catch the bottle with green cap and shake it instantly.", + "Grip the rectangular-shaped bottle with round cap using the right arm and shake.", + "Hold the smooth brown bottle with green label with the right arm and shake lightly.", + "Shake the brown bottle with rounded rectangular shape firmly after grabbing.", + "Hold the rectangular brown body with white top steady, then shake it.", + "Shake the medium bottle with glossy surface using the right arm after grabbing.", + "Hold the brown bottle, shake it briefly.", + "Utilize the right arm to hold the bottle with flat sides and logo and shake it.", + "Lift up the dark brown bottle with a squared body using the right arm, then shake.", + "Lift the brown bottle with rounded rectangular shape and shake it gently.", + "Lift the bottle with green cap with the right arm and shake it.", + "Lift the medium-sized brown plastic bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Shake the bottle with green cap after lifting it.", + "Take the rectangular-shaped bottle with round cap using the right arm and give it a shake.", + "Use the right arm to grab the dark brown bottle with a squared body and shake it.", + "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.", + "Pick the medium bottle with glossy surface and perform shaking motion.", + "Hold and shake the the smooth brown bottle with green label carefully.", + "Grab the smooth brown bottle with green label and give it a shake.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Shake the rectangular brown body with white top after holding it firmly.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Hold the rectangular brown body with white top and shake it properly.", + "Lift the medium bottle with glossy surface and shake it thoroughly.", + "Pick up the bottle with flat sides and logo and shake it well.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Pick up the rectangular brown body with white top and shake it.", + "Grab the smooth brown bottle with green label carefully and shake.", + "Grab the smooth brown bottle with green label and move it to shake.", + "Grasp the brown bottle with the right arm and shake it.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Grab the smooth brown bottle with green label and shake it steadily.", + "Grab the brown bottle with rounded rectangular shape with the right arm and shake.", + "Grab and shake the smooth brown bottle with green label using the right arm.", + "Grab the medium-sized brown plastic bottle using the right arm, then shake.", + "Pick the rectangular-shaped bottle with round cap up with the right arm and shake.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Use the right arm to lift and shake the brown bottle.", + "Use the right arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "Pick the rectangular brown body with white top up using the right arm and shake it.", + "Pick the rectangular brown body with white top, shake it with the right arm.", + "With the right arm, pick the brown bottle and shake properly.", + "Use the right arm to pick and shake the dark brown bottle with a squared body.", + "Lift the smooth plastic bottle with white cap with the right arm and shake.", + "Using the right arm, shake the dark brown bottle with a squared body and then place it back.", + "Secure the brown bottle with rounded rectangular shape and perform a shake.", + "Catch the smooth brown bottle with green label and shake it instantly.", + "Grip the brown bottle with rounded rectangular shape using the right arm and shake.", + "Hold the rectangular brown body with white top with the right arm and shake lightly.", + "Shake the smooth plastic bottle with white cap firmly after grabbing." + ], + "unseen": [ + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Use the right arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode356.json b/shake_bottle/ur5_randomized_500/instructions/episode356.json new file mode 100644 index 0000000000000000000000000000000000000000..36d7a662cea0dfde83071c9822ed0d1f85f0235a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode356.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the plastic bottle with colorful label.", + "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.", + "Lift the medium black bottle with printed label with the left arm and shake.", + "Pick the yellow capped drink bottle up using the left arm and shake it.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Use the left arm to grab the yellow capped drink bottle and shake properly.", + "Grab the black plastic bottle with Pepsi logo and shake it steadily.", + "Grab the black bottle carefully and shake.", + "Shake the the smooth black bottle with ridges properly after lifting.", + "Hold the plastic bottle with colorful label with the left arm and shake lightly.", + "Grab the drink bottle with rounded yellow lid and give it a shake.", + "Grab the drink bottle with rounded yellow lid and move it to shake.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Use the left arm to hold the smooth black bottle with ridges and shake it.", + "Catch the bottle with blue and yellow print and shake it instantly.", + "Pick up the black plastic bottle with Pepsi logo and shake it well.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake it.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Use the left arm to grab the medium black bottle with printed label and shake it.", + "Grab the medium black bottle with printed label with the left arm and shake.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Utilize the left arm to hold the medium black bottle with printed label and shake it.", + "Lift up the smooth black bottle with ridges using the left arm, then shake.", + "Pick the bottle with blue and yellow print and perform shaking motion.", + "Shake the black plastic bottle with Pepsi logo using the left arm after grabbing.", + "Hold the medium black bottle with printed label steady, then shake it.", + "Use the left arm to lift and shake the black cylindrical bottle with ridges.", + "Pick up the drink bottle with rounded yellow lid and shake it.", + "Pick the yellow capped drink bottle up with the left arm and shake.", + "Hold the plastic bottle with colorful label, shake it briefly.", + "With the left arm, pick the black cylindrical bottle with ridges and shake properly.", + "Lift the medium bottle with yellow cap and shake it thoroughly.", + "Grip the bottle with blue and yellow print using the left arm and shake.", + "Shake the black bottle after grabbing it.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Use the left arm to lift and shake the beverage bottle with black body.", + "Hold and shake the the black cylindrical bottle with ridges carefully.", + "Lift the medium black bottle with printed label with the left arm and give it a shake.", + "Secure the smooth black bottle with ridges and perform a shake.", + "Secure the medium bottle with yellow cap, shake it, and place it down.", + "Shake the medium black bottle with printed label after holding it firmly.", + "Pick the beverage bottle with black body, shake it with the left arm.", + "Using the left arm, shake the black cylindrical bottle with ridges and then place it back.", + "Grab the black cylindrical bottle with ridges using the left arm, then shake.", + "Shake the bottle with blue and yellow print after lifting it.", + "Grab and shake the yellow capped drink bottle using the left arm.", + "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.", + "Hold the black cylindrical bottle with ridges and shake it properly.", + "Take the yellow-capped cylindrical bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the yellow capped drink bottle.", + "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.", + "Lift the medium bottle with yellow cap with the left arm and shake.", + "Pick the plastic bottle with colorful label up using the left arm and shake it.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Use the left arm to grab the yellow-capped cylindrical bottle and shake properly.", + "Grab the medium bottle with yellow cap and shake it steadily.", + "Grab the black cylindrical bottle with ridges carefully and shake.", + "Shake the the black cylindrical bottle with ridges properly after lifting.", + "Hold the black bottle with the left arm and shake lightly.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Grab the beverage bottle with black body and move it to shake.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Use the left arm to hold the yellow capped drink bottle and shake it.", + "Catch the yellow capped drink bottle and shake it instantly.", + "Pick up the plastic bottle with colorful label and shake it well.", + "Lift the bottle with blue and yellow print with the left arm and shake it.", + "Lift the medium black bottle with printed label and shake it gently.", + "Use the left arm to grab the medium black bottle with printed label and shake it.", + "Grab the beverage bottle with black body with the left arm and shake.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Utilize the left arm to hold the beverage bottle with black body and shake it.", + "Lift up the yellow capped drink bottle using the left arm, then shake.", + "Pick the medium bottle with yellow cap and perform shaking motion.", + "Shake the smooth black bottle with ridges using the left arm after grabbing.", + "Hold the drink bottle with rounded yellow lid steady, then shake it.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Pick up the beverage bottle with black body and shake it.", + "Pick the medium black bottle with printed label up with the left arm and shake.", + "Hold the black plastic bottle with Pepsi logo, shake it briefly.", + "With the left arm, pick the yellow capped drink bottle and shake properly.", + "Lift the smooth black bottle with ridges and shake it thoroughly.", + "Grip the black bottle using the left arm and shake.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Grab the plastic bottle with colorful label firmly, shake it, and put it down.", + "Shake the yellow capped drink bottle firmly after grabbing.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Lift the yellow capped drink bottle with the left arm and give it a shake.", + "Secure the drink bottle with rounded yellow lid and perform a shake.", + "Secure the bottle with blue and yellow print, shake it, and place it down.", + "Shake the beverage bottle with black body after holding it firmly.", + "Pick the plastic bottle with colorful label, shake it with the left arm.", + "Using the left arm, shake the medium black bottle with printed label and then place it back.", + "Grab the yellow-capped cylindrical bottle using the left arm, then shake.", + "Shake the bottle with blue and yellow print after lifting it.", + "Grab and shake the beverage bottle with black body using the left arm.", + "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.", + "Hold the black bottle and shake it properly.", + "Take the smooth black bottle with ridges using the left arm and give it a shake." + ], + "unseen": [ + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode357.json b/shake_bottle/ur5_randomized_500/instructions/episode357.json new file mode 100644 index 0000000000000000000000000000000000000000..7cc12d21431ec496b1b54f691c85916ecdcc020f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode357.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick and shake the bottle for liquids.", + "Pick the orange cylindrical bottle up with the right arm and shake.", + "Grab the yellow-capped plastic bottle using the right arm, then shake.", + "Utilize the right arm to hold the medium-sized orange bottle and shake it.", + "Take the medium-sized orange bottle using the right arm and give it a shake.", + "Shake the bottle with narrow neck using the right arm after grabbing.", + "Pick the yellow-capped plastic bottle up using the right arm and shake it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Using the right arm, shake the plastic bottle with sealed yellow cap and then place it back.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Grab the bottle with narrow neck and give it a shake.", + "Lift the medium-sized orange bottle with the right arm and shake it.", + "Shake the bottle with printed label after grabbing it.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Secure the bottle for liquids, shake it, and place it down.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Pick the medium-sized orange bottle and perform shaking motion.", + "Grip the medium-sized orange bottle using the right arm and shake.", + "Shake the bottle for liquids after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Pick the plastic bottle with sealed yellow cap, shake it with the right arm.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Grab and shake the bottle with narrow neck using the right arm.", + "Pick up the cylindrical orange bottle with yellow top and shake it well.", + "Hold the bottle for liquids and shake it properly.", + "Hold the medium-sized orange bottle steady, then shake it.", + "Grasp the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Shake the bottle with narrow neck firmly after grabbing.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Lift the orange bottle and shake it gently.", + "Pick up the bottle with yellow cap and shake it.", + "Hold the medium-sized orange bottle with the right arm and shake lightly.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Grab the cylindrical orange bottle with yellow top with the right arm and shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "With the right arm, pick the plastic bottle and shake properly.", + "Hold the bottle with yellow cap, shake it briefly.", + "Grab the yellow-capped plastic bottle carefully and shake.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the plastic bottle with sealed yellow cap and shake it steadily.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Use the right arm to hold the orange cylindrical bottle and shake it.", + "Use the right arm to grab the bottle with printed label and shake properly.", + "Shake the smooth plastic bottle after holding it firmly.", + "Shake the bottle for liquids after lifting it.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Use the right arm to pick and shake the yellow-capped plastic bottle.", + "Pick the yellow-capped plastic bottle up with the right arm and shake.", + "Grab the bottle for liquids using the right arm, then shake.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Shake the orange cylindrical bottle using the right arm after grabbing.", + "Pick the bottle with narrow neck up using the right arm and shake it.", + "Shake the orange cylindrical bottle after grabbing it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to grab the yellow-capped plastic bottle and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Shake the the yellow-capped plastic bottle properly after lifting.", + "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the bottle for liquids and perform shaking motion.", + "Grip the cylindrical orange bottle with yellow top using the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the medium-sized orange bottle and move it to shake.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Pick the plastic bottle, shake it with the right arm.", + "Lift the yellow-capped plastic bottle with the right arm and give it a shake.", + "Grab and shake the cylindrical orange bottle with yellow top using the right arm.", + "Pick up the medium-sized orange bottle and shake it well.", + "Hold the smooth plastic bottle and shake it properly.", + "Hold the bottle with printed label steady, then shake it.", + "Grasp the bottle with narrow neck with the right arm and shake it.", + "Shake the orange cylindrical bottle firmly after grabbing.", + "Secure the cylindrical orange bottle with yellow top and perform a shake.", + "Lift the medium-sized orange bottle and shake it gently.", + "Pick up the bottle with yellow cap and shake it.", + "Hold the bottle with narrow neck with the right arm and shake lightly.", + "Lift the orange cylindrical bottle and shake it thoroughly.", + "Grab the cylindrical orange bottle with yellow top with the right arm and shake.", + "Hold and shake the the bottle with printed label carefully.", + "With the right arm, pick the bottle with narrow neck and shake properly.", + "Hold the plastic bottle, shake it briefly.", + "Grab the medium-sized orange bottle carefully and shake.", + "Lift up the yellow-capped plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle for liquids.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to hold the bottle with narrow neck and shake it.", + "Use the right arm to grab the bottle with narrow neck and shake properly.", + "Shake the bottle with yellow cap after holding it firmly.", + "Shake the bottle with yellow cap after lifting it.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Grab the yellow-capped plastic bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode358.json b/shake_bottle/ur5_randomized_500/instructions/episode358.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef19a2248bdc654bc4b856e15d2fb9f21cb2666 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode358.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red bottle with white bottom text and give it a shake.", + "Lift the smooth red cylindrical bottle with the right arm and shake.", + "Grab the red bottle with screw cap and move it to shake.", + "Shake the bottle with red cap firmly after grabbing.", + "Hold the handheld plastic bottle steady, then shake it.", + "Utilize the right arm to hold the smooth red cylindrical bottle and shake it.", + "Grab the plastic bottle with bright red color firmly, shake it, and put it down.", + "Use the right arm to lift and shake the red bottle with screw cap.", + "Pick the red bottle and perform shaking motion.", + "Use the right arm to hold the plastic bottle with bright red color and shake it.", + "Shake the handheld plastic bottle thoroughly after grabbing it.", + "Hold the handheld plastic bottle, shake it briefly.", + "Use the right arm to pick and shake the red bottle with white bottom text.", + "Secure the red bottle with white bottom text, shake it, and place it down.", + "Secure the yellow text bottle and perform a shake.", + "Using the right arm, shake the smooth red cylindrical bottle and then place it back.", + "Pick up the yellow text bottle and shake it.", + "With the right arm, pick the bottle with red cap and shake properly.", + "Lift the bottle with red cap and shake it thoroughly.", + "Catch the red bottle with white bottom text and shake it instantly.", + "Grasp the red bottle with white bottom text with the right arm and shake it.", + "Use the right arm to grab the red bottle with narrow neck and shake properly.", + "Shake the smooth red cylindrical bottle after grabbing it.", + "Lift the red bottle with the right arm and shake it.", + "Hold the plastic bottle with bright red color with the right arm and shake lightly.", + "Grab the medium-size plastic bottle and shake it steadily.", + "Grip the yellow text bottle using the right arm and shake.", + "Grab the yellow text bottle with the right arm and shake.", + "Lift up the red bottle using the right arm, then shake.", + "Lift the plastic bottle with bright red color and shake it gently.", + "Shake the red bottle with curved grooves after grabbing it.", + "Pick the red bottle with white bottom text, shake it with the right arm.", + "Use the right arm to lift and shake the red bottle with screw cap.", + "Take the yellow text bottle using the right arm and give it a shake.", + "Pick up the plastic bottle with bright red color and shake it well.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the yellow text bottle after holding it firmly.", + "Grab the red bottle with white bottom text carefully and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the plastic bottle with bright red color with the right arm and give it a shake.", + "Shake the red bottle after lifting it.", + "Shake the red bottle after grabbing it.", + "Shake the the red bottle with narrow neck properly after lifting.", + "Use the right arm to grab the red bottle with narrow neck and shake it.", + "Grab the handheld plastic bottle using the right arm, then shake.", + "Grab and shake the red bottle using the right arm.", + "Shake the red bottle with screw cap using the right arm after grabbing.", + "Hold and shake the the smooth red cylindrical bottle carefully.", + "Hold the red bottle with curved grooves and shake it properly.", + "Pick the plastic bottle with bright red color up using the right arm and shake it.", + "Grab the red bottle with narrow neck and give it a shake.", + "Lift the red bottle with narrow neck with the right arm and shake.", + "Grab the handheld plastic bottle and move it to shake.", + "Shake the handheld plastic bottle firmly after grabbing.", + "Hold the bottle with red cap steady, then shake it.", + "Utilize the right arm to hold the red bottle with curved grooves and shake it.", + "Grab the medium-size plastic bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the red bottle with screw cap.", + "Pick the red bottle with curved grooves and perform shaking motion.", + "Use the right arm to hold the red bottle and shake it.", + "Shake the red bottle thoroughly after grabbing it.", + "Hold the handheld plastic bottle, shake it briefly.", + "Use the right arm to pick and shake the red bottle.", + "Secure the plastic bottle, shake it, and place it down.", + "Secure the plastic bottle with bright red color and perform a shake.", + "Using the right arm, shake the red bottle with screw cap and then place it back.", + "Pick up the red bottle with narrow neck and shake it.", + "With the right arm, pick the red bottle with screw cap and shake properly.", + "Lift the red bottle with curved grooves and shake it thoroughly.", + "Catch the bottle with red cap and shake it instantly.", + "Grasp the red bottle with curved grooves with the right arm and shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Lift the plastic bottle with the right arm and shake it.", + "Hold the red bottle with curved grooves with the right arm and shake lightly.", + "Grab the handheld plastic bottle and shake it steadily.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the smooth red cylindrical bottle with the right arm and shake.", + "Lift up the medium-size plastic bottle using the right arm, then shake.", + "Lift the plastic bottle and shake it gently.", + "Shake the plastic bottle after grabbing it.", + "Pick the smooth red cylindrical bottle, shake it with the right arm.", + "Use the right arm to lift and shake the yellow text bottle.", + "Take the plastic bottle using the right arm and give it a shake.", + "Pick up the red bottle with screw cap and shake it well.", + "Pick the smooth red cylindrical bottle up with the right arm and shake.", + "Shake the red bottle with curved grooves after holding it firmly.", + "Grab the plastic bottle carefully and shake.", + "Use the right arm to lift and shake the red bottle with screw cap.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the red bottle after lifting it.", + "Shake the smooth red cylindrical bottle after grabbing it.", + "Shake the the smooth red cylindrical bottle properly after lifting.", + "Use the right arm to grab the red bottle with curved grooves and shake it.", + "Grab the medium-size plastic bottle using the right arm, then shake.", + "Grab and shake the bottle with red cap using the right arm.", + "Shake the plastic bottle using the right arm after grabbing.", + "Hold and shake the the plastic bottle carefully.", + "Hold the bottle with red cap and shake it properly.", + "Pick the smooth red cylindrical bottle up using the right arm and shake it." + ], + "unseen": [ + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Use the right arm to pick the bottle with white and yellow label.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Pick up the shiny red bottle with the right arm and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the shiny red bottle with the right arm.", + "Use the right arm to pick the bottle with white and yellow label.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the shiny red bottle and shake it.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the shiny red bottle with the right arm.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Use the right arm to pick the bottle with white and yellow label.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the shiny red bottle with the right arm.", + "Use the right arm to pick the shiny red bottle.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Pick up the shiny red bottle with the right arm and shake.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Use the right arm to pick the bottle with white and yellow label.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Use the right arm to pick the bottle with white and yellow label.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode359.json b/shake_bottle/ur5_randomized_500/instructions/episode359.json new file mode 100644 index 0000000000000000000000000000000000000000..9e85a1594fa05d15334424dd246ef230913a0c4d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode359.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the hand-sized plastic bottle and shake properly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the bottle with white screw cap firmly after grabbing.", + "Shake the the bottle with black label properly after lifting.", + "Use the right arm to grab the small curved plastic bottle and shake properly.", + "Take the smooth brown and white patterned bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the hand-sized plastic bottle.", + "Using the right arm, shake the small bottle with decorative design and then place it back.", + "Grab the bottle holding liquid and move it to shake.", + "Use the right arm to lift and shake the small curved plastic bottle.", + "Shake the hand-sized plastic bottle after lifting it.", + "Grab the small curved plastic bottle and shake it steadily.", + "Grab the bottle holding liquid and give it a shake.", + "Grip the hand-sized plastic bottle using the right arm and shake.", + "Lift up the small bottle with decorative design using the right arm, then shake.", + "Hold the small curved plastic bottle and shake it properly.", + "Use the right arm to lift and shake the small bottle with decorative design.", + "Pick the hand-sized plastic bottle up with the right arm and shake.", + "Pick up the plastic bottle and shake it.", + "Grab and shake the brown bottle using the right arm.", + "Pick the curved bottle with white top up using the right arm and shake it.", + "Use the right arm to grab the small bottle with decorative design and shake it.", + "Use the right arm to pick and shake the bottle with brown and white patterns.", + "Pick the smooth brown and white patterned bottle and perform shaking motion.", + "Shake the hand-sized plastic bottle after holding it firmly.", + "Lift the small bottle with decorative design with the right arm and shake it.", + "Lift the bottle holding liquid with the right arm and shake.", + "Shake the bottle holding liquid thoroughly after grabbing it.", + "Shake the white-capped bottle after grabbing it.", + "Hold and shake the the bottle holding liquid carefully.", + "Hold the bottle with white screw cap with the right arm and shake lightly.", + "Grab the bottle holding liquid with the right arm and shake.", + "Grasp the bottle with brown and white patterns with the right arm and shake it.", + "Use the right arm to hold the brown bottle and shake it.", + "Catch the curved bottle with white top and shake it instantly.", + "Hold the curved bottle with white top, shake it briefly.", + "Utilize the right arm to hold the white-capped bottle and shake it.", + "Pick up the curved bottle with white top and shake it well.", + "Shake the curved bottle with white top after grabbing it.", + "Shake the brown bottle after grabbing it.", + "Shake the curved bottle with white top using the right arm after grabbing.", + "Pick the small curved plastic bottle, shake it with the right arm.", + "Grab the bottle with brown and white patterns firmly, shake it, and put it down.", + "Grab the bottle with white screw cap carefully and shake.", + "Lift the curved bottle with white top and shake it gently.", + "Hold the hand-sized plastic bottle steady, then shake it.", + "Lift the white-capped bottle and shake it thoroughly.", + "Secure the white-capped bottle and perform a shake.", + "Grab the brown bottle using the right arm, then shake.", + "Secure the bottle holding liquid, shake it, and place it down.", + "With the right arm, pick the hand-sized plastic bottle and shake properly.", + "Lift the bottle with brown and white patterns with the right arm and give it a shake.", + "Shake the bottle with black label firmly after grabbing.", + "Shake the the small curved plastic bottle properly after lifting.", + "Use the right arm to grab the bottle holding liquid and shake properly.", + "Take the white-capped bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the hand-sized plastic bottle.", + "Using the right arm, shake the bottle with white screw cap and then place it back.", + "Grab the white-capped bottle and move it to shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the plastic bottle after lifting it.", + "Grab the hand-sized plastic bottle and shake it steadily.", + "Grab the bottle with brown and white patterns and give it a shake.", + "Grip the curved bottle with white top using the right arm and shake.", + "Lift up the bottle with white screw cap using the right arm, then shake.", + "Hold the white-capped bottle and shake it properly.", + "Use the right arm to lift and shake the hand-sized plastic bottle.", + "Pick the bottle with white screw cap up with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab and shake the brown bottle using the right arm.", + "Pick the curved bottle with white top up using the right arm and shake it.", + "Use the right arm to grab the smooth brown and white patterned bottle and shake it.", + "Use the right arm to pick and shake the bottle with brown and white patterns.", + "Pick the small curved plastic bottle and perform shaking motion.", + "Shake the bottle with brown and white patterns after holding it firmly.", + "Lift the plastic bottle with the right arm and shake it.", + "Lift the white-capped bottle with the right arm and shake.", + "Shake the bottle with white screw cap thoroughly after grabbing it.", + "Shake the brown bottle after grabbing it.", + "Hold and shake the the bottle with white screw cap carefully.", + "Hold the bottle holding liquid with the right arm and shake lightly.", + "Grab the small bottle with decorative design with the right arm and shake.", + "Grasp the curved bottle with white top with the right arm and shake it.", + "Use the right arm to hold the bottle with white screw cap and shake it.", + "Catch the smooth brown and white patterned bottle and shake it instantly.", + "Hold the plastic bottle, shake it briefly.", + "Utilize the right arm to hold the brown bottle and shake it.", + "Pick up the brown bottle and shake it well.", + "Shake the bottle with brown and white patterns after grabbing it.", + "Shake the small curved plastic bottle after grabbing it.", + "Shake the bottle with white screw cap using the right arm after grabbing.", + "Pick the bottle with brown and white patterns, shake it with the right arm.", + "Grab the bottle with white screw cap firmly, shake it, and put it down.", + "Grab the bottle holding liquid carefully and shake.", + "Lift the bottle with brown and white patterns and shake it gently.", + "Hold the small bottle with decorative design steady, then shake it.", + "Lift the smooth brown and white patterned bottle and shake it thoroughly.", + "Secure the plastic bottle and perform a shake.", + "Grab the curved bottle with white top using the right arm, then shake.", + "Secure the brown bottle, shake it, and place it down." + ], + "unseen": [ + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Pick up the glossy brown bottle and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Grab the glossy brown bottle and shake it.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Grab the glossy brown bottle and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Pick up the glossy brown bottle and shake it.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the glossy brown bottle and give it a shake.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Grab the glossy brown bottle and shake it.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Pick up the glossy brown bottle and shake it.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick up the cylindrical bottle with curved sides and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode36.json b/shake_bottle/ur5_randomized_500/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..91d9ea4cd79d8ae36019944d40e0d10602c4defd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the cylindrical orange bottle with yellow top steady, then shake it.", + "Shake the bottle with printed label after grabbing it.", + "Use the right arm to lift and shake the yellow-capped plastic bottle.", + "Use the right arm to lift and shake the bottle for liquids.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Use the right arm to grab the yellow-capped plastic bottle and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Pick up the yellow-capped plastic bottle and shake it well.", + "Catch the cylindrical orange bottle with yellow top and shake it instantly.", + "Pick up the bottle with printed label and shake it.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Shake the the orange bottle properly after lifting.", + "Lift the bottle with narrow neck with the right arm and give it a shake.", + "Grip the orange bottle using the right arm and shake.", + "Grab the orange bottle carefully and shake.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Pick the orange cylindrical bottle up using the right arm and shake it.", + "Hold and shake the the cylindrical orange bottle with yellow top carefully.", + "Secure the smooth plastic bottle and perform a shake.", + "Pick the bottle with yellow cap, shake it with the right arm.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Secure the bottle with narrow neck, shake it, and place it down.", + "With the right arm, pick the yellow-capped plastic bottle and shake properly.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Shake the orange bottle after holding it firmly.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Lift the orange cylindrical bottle and shake it gently.", + "Pick the bottle with narrow neck up with the right arm and shake.", + "Grab the yellow-capped plastic bottle and shake it steadily.", + "Shake the bottle with narrow neck after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Grab the orange cylindrical bottle and give it a shake.", + "Use the right arm to grab the orange bottle and shake properly.", + "Shake the bottle with printed label after grabbing it.", + "Hold the bottle with yellow cap, shake it briefly.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Take the bottle for liquids using the right arm and give it a shake.", + "Hold the smooth plastic bottle and shake it properly.", + "Grasp the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Using the right arm, shake the bottle with printed label and then place it back.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Use the right arm to hold the bottle with printed label and shake it.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the bottle with printed label and shake it.", + "Grab the bottle with narrow neck with the right arm and shake.", + "Grab the bottle for liquids using the right arm, then shake.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Hold the orange cylindrical bottle steady, then shake it.", + "Shake the orange cylindrical bottle after grabbing it.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Use the right arm to grab the plastic bottle with sealed yellow cap and shake it.", + "Use the right arm to pick and shake the cylindrical orange bottle with yellow top.", + "Pick up the bottle with printed label and shake it well.", + "Catch the smooth plastic bottle and shake it instantly.", + "Pick up the plastic bottle and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the the bottle with narrow neck properly after lifting.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the yellow-capped plastic bottle carefully and shake.", + "Grab the plastic bottle and move it to shake.", + "Pick the bottle with printed label up using the right arm and shake it.", + "Hold and shake the the plastic bottle with sealed yellow cap carefully.", + "Secure the bottle with yellow cap and perform a shake.", + "Pick the plastic bottle with sealed yellow cap, shake it with the right arm.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with printed label.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "With the right arm, pick the yellow-capped plastic bottle and shake properly.", + "Shake the yellow-capped plastic bottle using the right arm after grabbing.", + "Shake the bottle with yellow cap after holding it firmly.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Lift the bottle with yellow cap and shake it gently.", + "Pick the medium-sized orange bottle up with the right arm and shake.", + "Grab the medium-sized orange bottle and shake it steadily.", + "Shake the orange cylindrical bottle after lifting it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Grab the bottle for liquids and give it a shake.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Shake the medium-sized orange bottle after grabbing it.", + "Hold the orange bottle, shake it briefly.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Take the plastic bottle using the right arm and give it a shake.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Using the right arm, shake the medium-sized orange bottle and then place it back.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Use the right arm to hold the yellow-capped plastic bottle and shake it.", + "Grab and shake the cylindrical orange bottle with yellow top using the right arm.", + "Shake the bottle with narrow neck thoroughly after grabbing it.", + "Utilize the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Grab the medium-sized orange bottle with the right arm and shake.", + "Grab the plastic bottle with sealed yellow cap using the right arm, then shake.", + "Hold the plastic bottle with sealed yellow cap with the right arm and shake lightly." + ], + "unseen": [ + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the right arm to pick the handheld orange bottle.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Grab the handheld orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode360.json b/shake_bottle/ur5_randomized_500/instructions/episode360.json new file mode 100644 index 0000000000000000000000000000000000000000..8e38f4a9a1be5a4bb79ec0046a4822f887465939 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode360.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the Coca-Cola bottle firmly after grabbing.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Shake the long thin bottle after grabbing it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Pick up the medium dark brown bottle and shake it well.", + "Shake the red-capped bottle after holding it firmly.", + "Grip the long thin bottle using the left arm and shake.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick the long thin bottle up with the left arm and shake.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Pick up the hand-sized soda bottle and shake it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Grab the smooth bottle with red lid and move it to shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Grab and shake the plastic drink bottle using the left arm.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift the red-capped bottle and shake it thoroughly.", + "Shake the Coca-Cola bottle after lifting it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Lift the red-capped bottle with the left arm and shake it.", + "Catch the long thin bottle and shake it instantly.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Pick the long thin bottle up using the left arm and shake it.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Use the left arm to lift and shake the long thin bottle.", + "Hold the plastic drink bottle, shake it briefly.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Shake the dark drink bottle with logo after grabbing it.", + "Secure the plastic drink bottle and perform a shake.", + "Hold the brown bottle with red label and shake it properly.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Shake the red-capped bottle after holding it firmly.", + "Grip the brown bottle with red label using the left arm and shake.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Use the left arm to lift and shake the long thin bottle.", + "Pick the plastic drink bottle and perform shaking motion.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Pick up the bottle with white neck and red top and shake it.", + "Lift the long thin bottle with the left arm and shake.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Grab the bottle with white neck and red top and move it to shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Grab the long thin bottle using the left arm, then shake.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Shake the hand-sized soda bottle after lifting it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Lift the red-capped bottle with the left arm and shake it.", + "Catch the long thin bottle and shake it instantly.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Pick the narrow-necked bottle up using the left arm and shake it." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode361.json b/shake_bottle/ur5_randomized_500/instructions/episode361.json new file mode 100644 index 0000000000000000000000000000000000000000..b99a17b1a9a69fde16839a1d22da6f00d534bbc4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode361.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the brown bottle, shake it, and place it down.", + "Lift the smooth plastic bottle with white cap with the right arm and shake.", + "Using the right arm, shake the bottle with green cap and then place it back.", + "With the right arm, pick the smooth brown bottle with green label and shake properly.", + "Shake the bottle with green cap after grabbing it.", + "Take the bottle with flat sides and logo using the right arm and give it a shake.", + "Grab the medium-sized brown plastic bottle and move it to shake.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "Grab the dark brown bottle with a squared body and shake it steadily.", + "Pick up the rectangular brown body with white top and shake it well.", + "Hold and shake the the smooth brown bottle with green label carefully.", + "Grab the bottle with green cap using the right arm, then shake.", + "Grab the dark brown bottle with a squared body carefully and shake.", + "Pick the bottle with flat sides and logo up using the right arm and shake it.", + "Use the right arm to grab the dark brown bottle with a squared body and shake properly.", + "Lift the rectangular-shaped bottle with round cap with the right arm and give it a shake.", + "Hold the brown bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with green cap.", + "Grab the rectangular brown body with white top firmly, shake it, and put it down.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Grab and shake the brown bottle using the right arm.", + "Hold the plastic bottle, shake it briefly.", + "Pick the plastic bottle and perform shaking motion.", + "Secure the dark brown bottle with a squared body and perform a shake.", + "Grasp the medium bottle with glossy surface with the right arm and shake it.", + "Shake the smooth plastic bottle with white cap firmly after grabbing.", + "Use the right arm to lift and shake the rectangular-shaped bottle with round cap.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Use the right arm to lift and shake the brown bottle.", + "Shake the smooth plastic bottle with white cap using the right arm after grabbing.", + "Catch the dark brown bottle with a squared body and shake it instantly.", + "Use the right arm to pick and shake the plastic bottle.", + "Shake the plastic bottle after lifting it.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Shake the the smooth plastic bottle with white cap properly after lifting.", + "Pick the brown bottle with rounded rectangular shape, shake it with the right arm.", + "Grab the bottle with green cap and give it a shake.", + "Use the right arm to grab the bottle with flat sides and logo and shake it.", + "Lift up the smooth brown bottle with green label using the right arm, then shake.", + "Lift the brown bottle and shake it thoroughly.", + "Lift the rectangular brown body with white top with the right arm and shake it.", + "Grab the bottle with flat sides and logo with the right arm and shake.", + "Grip the plastic bottle using the right arm and shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the smooth brown bottle with green label after holding it firmly.", + "Use the right arm to hold the smooth plastic bottle with white cap and shake it.", + "Lift the smooth brown bottle with green label and shake it gently.", + "Hold the medium bottle with glossy surface steady, then shake it.", + "Pick up the brown bottle with rounded rectangular shape and shake it.", + "Utilize the right arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Secure the bottle with green cap, shake it, and place it down.", + "Lift the medium bottle with glossy surface with the right arm and shake.", + "Using the right arm, shake the rectangular-shaped bottle with round cap and then place it back.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the brown bottle after grabbing it.", + "Take the smooth brown bottle with green label using the right arm and give it a shake.", + "Grab the medium bottle with glossy surface and move it to shake.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Grab the brown bottle and shake it steadily.", + "Pick up the rectangular-shaped bottle with round cap and shake it well.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Grab the smooth brown bottle with green label using the right arm, then shake.", + "Grab the smooth plastic bottle with white cap carefully and shake.", + "Pick the medium bottle with glossy surface up using the right arm and shake it.", + "Use the right arm to grab the bottle with green cap and shake properly.", + "Lift the brown bottle with the right arm and give it a shake.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the medium-sized brown plastic bottle.", + "Grab the smooth brown bottle with green label firmly, shake it, and put it down.", + "Shake the medium-sized brown plastic bottle thoroughly after grabbing it.", + "Grab and shake the brown bottle using the right arm.", + "Hold the rectangular-shaped bottle with round cap, shake it briefly.", + "Pick the medium-sized brown plastic bottle and perform shaking motion.", + "Secure the rectangular brown body with white top and perform a shake.", + "Grasp the brown bottle with the right arm and shake it.", + "Shake the bottle with flat sides and logo firmly after grabbing.", + "Use the right arm to lift and shake the medium bottle with glossy surface.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Use the right arm to lift and shake the dark brown bottle with a squared body.", + "Shake the bottle with green cap using the right arm after grabbing.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Use the right arm to pick and shake the brown bottle with rounded rectangular shape.", + "Shake the bottle with green cap after lifting it.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Pick the medium-sized brown plastic bottle, shake it with the right arm.", + "Grab the rectangular-shaped bottle with round cap and give it a shake.", + "Use the right arm to grab the brown bottle with rounded rectangular shape and shake it.", + "Lift up the medium bottle with glossy surface using the right arm, then shake.", + "Lift the dark brown bottle with a squared body and shake it thoroughly.", + "Lift the rectangular brown body with white top with the right arm and shake it.", + "Grab the bottle with flat sides and logo with the right arm and shake.", + "Grip the bottle with flat sides and logo using the right arm and shake.", + "Pick the rectangular brown body with white top up with the right arm and shake.", + "Shake the smooth brown bottle with green label after holding it firmly.", + "Use the right arm to hold the smooth plastic bottle with white cap and shake it.", + "Lift the medium bottle with glossy surface and shake it gently.", + "Hold the medium bottle with glossy surface steady, then shake it.", + "Pick up the smooth brown bottle with green label and shake it.", + "Utilize the right arm to hold the dark brown bottle with a squared body and shake it." + ], + "unseen": [ + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode362.json b/shake_bottle/ur5_randomized_500/instructions/episode362.json new file mode 100644 index 0000000000000000000000000000000000000000..586b59298186ea907c19f531c098691be06e470b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode362.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the hand-sized bottle with screw cap and shake it instantly.", + "Use the right arm to grab the smooth surface bottle with gray shade and shake properly.", + "Secure the bottle shaped like small cylinder and perform a shake.", + "Pick the smooth surface bottle with gray shade, shake it with the right arm.", + "Lift the smooth cylindrical bottle with the right arm and shake.", + "Lift the light gray colored container bottle and shake it gently.", + "Lift the smooth surface bottle with gray shade with the right arm and give it a shake.", + "Pick the bottle shaped like small cylinder up with the right arm and shake.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Grip the smooth cylindrical bottle using the right arm and shake.", + "Grab and shake the medium-sized plastic bottle using the right arm.", + "Grab the medium-sized plastic bottle and move it to shake.", + "Shake the bottle shaped like small cylinder using the right arm after grabbing.", + "Take the medium-sized plastic bottle using the right arm and give it a shake.", + "Shake the bottle shaped like small cylinder firmly after grabbing.", + "Lift the medium cylinder-shaped bottle with the right arm and shake it.", + "Grab the bottle with cute ghost drawing and shake it steadily.", + "Use the right arm to lift and shake the gray bottle with slight shine.", + "Shake the light gray colored container bottle after holding it firmly.", + "Hold and shake the the medium cylinder-shaped bottle carefully.", + "Hold the medium cylinder-shaped bottle with the right arm and shake lightly.", + "Lift up the plastic bottle with ghost print using the right arm, then shake.", + "Pick the bottle shaped like small cylinder up using the right arm and shake it.", + "Lift the bottle shaped like small cylinder and shake it thoroughly.", + "Shake the bottle shaped like small cylinder after lifting it.", + "Grab the smooth surface bottle with gray shade and give it a shake.", + "Hold the medium-sized plastic bottle, shake it briefly.", + "Use the right arm to hold the gray bottle with slight shine and shake it.", + "Use the right arm to grab the light gray colored container bottle and shake it.", + "Grab the smooth cylindrical bottle carefully and shake.", + "Grab the smooth cylindrical bottle with the right arm and shake.", + "Shake the bottle with cute ghost drawing thoroughly after grabbing it.", + "Secure the rounded body bottle made of plastic, shake it, and place it down.", + "Use the right arm to lift and shake the rounded body bottle made of plastic.", + "Utilize the right arm to hold the rounded body bottle made of plastic and shake it.", + "Grab the smooth surface bottle with gray shade using the right arm, then shake.", + "Shake the bottle shaped like small cylinder after grabbing it.", + "Hold the light gray colored container bottle and shake it properly.", + "Use the right arm to lift and shake the medium-sized plastic bottle.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Shake the light gray colored container bottle after grabbing it.", + "Pick up the medium cylinder-shaped bottle and shake it.", + "Shake the the gray bottle with slight shine properly after lifting.", + "Grasp the bottle with cute ghost drawing with the right arm and shake it.", + "Pick up the hand-sized bottle with screw cap and shake it well.", + "Grab the gray bottle with slight shine firmly, shake it, and put it down.", + "Using the right arm, shake the bottle shaped like small cylinder and then place it back.", + "Pick the bottle shaped like small cylinder and perform shaking motion.", + "Use the right arm to pick and shake the medium cylinder-shaped bottle.", + "With the right arm, pick the bottle shaped like small cylinder and shake properly.", + "Catch the medium cylinder-shaped bottle and shake it instantly.", + "Use the right arm to grab the smooth surface bottle with gray shade and shake properly.", + "Secure the medium-sized plastic bottle and perform a shake.", + "Pick the hand-sized bottle with screw cap, shake it with the right arm.", + "Lift the medium cylinder-shaped bottle with the right arm and shake.", + "Lift the gray bottle with slight shine and shake it gently.", + "Lift the medium cylinder-shaped bottle with the right arm and give it a shake.", + "Pick the smooth surface bottle with gray shade up with the right arm and shake.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Grip the plastic bottle with ghost print using the right arm and shake.", + "Grab and shake the smooth cylindrical bottle using the right arm.", + "Grab the smooth surface bottle with gray shade and move it to shake.", + "Shake the light gray colored container bottle using the right arm after grabbing.", + "Take the medium cylinder-shaped bottle using the right arm and give it a shake.", + "Shake the rounded body bottle made of plastic firmly after grabbing.", + "Lift the medium cylinder-shaped bottle with the right arm and shake it.", + "Grab the milk-bottle shape design and shake it steadily.", + "Use the right arm to lift and shake the rounded body bottle made of plastic.", + "Shake the medium cylinder-shaped bottle after holding it firmly.", + "Hold and shake the the bottle shaped like small cylinder carefully.", + "Hold the rounded body bottle made of plastic with the right arm and shake lightly.", + "Lift up the medium cylinder-shaped bottle using the right arm, then shake.", + "Pick the medium-sized plastic bottle up using the right arm and shake it.", + "Lift the milk-bottle shape design and shake it thoroughly.", + "Shake the smooth cylindrical bottle after lifting it.", + "Grab the medium-sized plastic bottle and give it a shake.", + "Hold the gray bottle with slight shine, shake it briefly.", + "Use the right arm to hold the hand-sized bottle with screw cap and shake it.", + "Use the right arm to grab the bottle with cute ghost drawing and shake it.", + "Grab the gray bottle with slight shine carefully and shake.", + "Grab the smooth surface bottle with gray shade with the right arm and shake.", + "Shake the plastic bottle with ghost print thoroughly after grabbing it.", + "Secure the gray bottle with slight shine, shake it, and place it down.", + "Use the right arm to lift and shake the smooth cylindrical bottle.", + "Utilize the right arm to hold the smooth surface bottle with gray shade and shake it.", + "Grab the light gray colored container bottle using the right arm, then shake.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Hold the hand-sized bottle with screw cap and shake it properly.", + "Use the right arm to lift and shake the bottle with cute ghost drawing.", + "Hold the smooth surface bottle with gray shade steady, then shake it.", + "Shake the light gray colored container bottle after grabbing it.", + "Pick up the light gray colored container bottle and shake it.", + "Shake the the milk-bottle shape design properly after lifting.", + "Grasp the smooth cylindrical bottle with the right arm and shake it.", + "Pick up the bottle with cute ghost drawing and shake it well.", + "Grab the light gray colored container bottle firmly, shake it, and put it down.", + "Using the right arm, shake the milk-bottle shape design and then place it back.", + "Pick the smooth cylindrical bottle and perform shaking motion.", + "Use the right arm to pick and shake the medium-sized plastic bottle.", + "With the right arm, pick the hand-sized bottle with screw cap and shake properly." + ], + "unseen": [ + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Grab the light gray bottle and shake it.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle with the right arm and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Grab the light gray bottle and shake it.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Grab the bottle with rounded cap top and shake it.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the light gray bottle with the right arm and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Grab the bottle with rounded cap top and shake it.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the light gray bottle with the right arm and shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Grab the light gray bottle and shake it.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Grab the bottle with rounded cap top and shake it.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Use the right arm to pick the light gray bottle.", + "Grab the light gray bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode363.json b/shake_bottle/ur5_randomized_500/instructions/episode363.json new file mode 100644 index 0000000000000000000000000000000000000000..fadc03b37e2cda088daa7e0b7f891763860bd559 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode363.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the drinking bottle with yellow label and perform shaking motion.", + "Lift the bottle with orange cap with the right arm and shake.", + "Use the right arm to grab the medium bottle with orange lid and shake it.", + "Shake the medium bottle with orange lid after lifting it.", + "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.", + "Hold the bottle with orange cap, shake it briefly.", + "Hold the drinking bottle with yellow label and shake it properly.", + "Secure the drinking bottle with yellow label and perform a shake.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Shake the yellow label bottle after grabbing it.", + "Use the right arm to hold the orange bottle and shake it.", + "Grab the orange and white bottle with cap and move it to shake.", + "Hold and shake the the smooth plastic bottle carefully.", + "Pick up the medium orange bottle and shake it.", + "Grip the cylindrical orange and white bottle using the right arm and shake.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Grab the medium orange bottle with the right arm and shake.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Using the right arm, shake the bottle with ribbed orange bottom and then place it back.", + "Grab the bottle with orange cap firmly, shake it, and put it down.", + "Lift the medium orange bottle and shake it gently.", + "Utilize the right arm to hold the bottle with orange cap and shake it.", + "Shake the medium bottle with orange lid after grabbing it.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Use the right arm to pick and shake the bottle with orange cap.", + "Grab and shake the bottle with orange cap using the right arm.", + "Pick up the white and orange plastic bottle and shake it well.", + "Shake the yellow label bottle using the right arm after grabbing.", + "Pick the orange and white bottle with cap up using the right arm and shake it.", + "Catch the bottle with orange cap and shake it instantly.", + "Shake the the yellow label bottle properly after lifting.", + "Use the right arm to lift and shake the bottle with ribbed orange bottom.", + "Use the right arm to grab the orange bottle and shake properly.", + "Lift up the yellow label bottle using the right arm, then shake.", + "Secure the yellow label bottle, shake it, and place it down.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Use the right arm to lift and shake the white and orange plastic bottle.", + "Hold the cylindrical orange and white bottle steady, then shake it.", + "Lift the medium bottle with orange lid with the right arm and give it a shake.", + "Grasp the cylindrical orange and white bottle with the right arm and shake it.", + "Pick the drinking bottle with yellow label up with the right arm and shake.", + "Take the bottle with orange cap using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with orange cap.", + "Grab the drinking bottle with yellow label and shake it steadily.", + "Lift the bottle with orange cap and shake it thoroughly.", + "Grab the bottle with ribbed orange bottom and give it a shake.", + "Shake the orange and white bottle with cap thoroughly after grabbing it.", + "With the right arm, pick the orange and white bottle with cap and shake properly.", + "Grab the orange and white bottle with cap carefully and shake.", + "Pick the drinking bottle with yellow label and perform shaking motion.", + "Lift the white and orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the medium bottle with orange lid and shake it.", + "Shake the medium orange bottle after lifting it.", + "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.", + "Hold the medium orange bottle, shake it briefly.", + "Hold the drinking bottle with yellow label and shake it properly.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Shake the bottle with orange cap after grabbing it.", + "Use the right arm to hold the cylindrical orange and white bottle and shake it.", + "Grab the orange bottle and move it to shake.", + "Hold and shake the the medium bottle with orange lid carefully.", + "Pick up the yellow label bottle and shake it.", + "Grip the drinking bottle with yellow label using the right arm and shake.", + "Shake the orange and white bottle with cap after holding it firmly.", + "Grab the yellow label bottle with the right arm and shake.", + "Shake the orange and white bottle with cap after grabbing it.", + "Using the right arm, shake the smooth plastic bottle and then place it back.", + "Grab the bottle with orange cap firmly, shake it, and put it down.", + "Lift the smooth plastic bottle and shake it gently.", + "Utilize the right arm to hold the orange and white bottle with cap and shake it.", + "Shake the bottle with orange cap after grabbing it.", + "Lift the bottle with orange cap with the right arm and shake it.", + "Pick the yellow label bottle, shake it with the right arm.", + "Use the right arm to pick and shake the cylindrical orange and white bottle.", + "Grab and shake the orange and white bottle with cap using the right arm.", + "Pick up the white and orange plastic bottle and shake it well.", + "Shake the bottle with ribbed orange bottom using the right arm after grabbing.", + "Pick the medium orange bottle up using the right arm and shake it.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Shake the the medium orange bottle properly after lifting.", + "Use the right arm to lift and shake the orange bottle.", + "Use the right arm to grab the drinking bottle with yellow label and shake properly.", + "Lift up the cylindrical orange and white bottle using the right arm, then shake.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "Shake the medium orange bottle firmly after grabbing.", + "Use the right arm to lift and shake the bottle with orange cap.", + "Hold the yellow label bottle steady, then shake it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grasp the bottle with ribbed orange bottom with the right arm and shake it.", + "Pick the medium bottle with orange lid up with the right arm and shake.", + "Take the orange and white bottle with cap using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium bottle with orange lid.", + "Grab the medium orange bottle and shake it steadily.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Grab the cylindrical orange and white bottle carefully and shake." + ], + "unseen": [ + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Shake the bottle with curved body after picking it with the right arm.", + "Use the right arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode364.json b/shake_bottle/ur5_randomized_500/instructions/episode364.json new file mode 100644 index 0000000000000000000000000000000000000000..481c0524f5187a18410afdb3a251ab6854ed3615 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode364.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the liquid container with orange body and move it to shake.", + "Utilize the right arm to hold the orange bottle with bold labeling and shake it.", + "Lift the small bottle with bright yellow lid with the right arm and give it a shake.", + "Use the right arm to lift and shake the cylindrical orange bottle with smooth surface.", + "Take the orange bottle with bold labeling using the right arm and give it a shake.", + "Shake the small bottle with bright yellow lid after grabbing it.", + "Grab the rounded bottom orange plastic bottle and give it a shake.", + "Grab the yellow-capped bottle for beverages and shake it steadily.", + "Using the right arm, shake the yellow-capped bottle for beverages and then place it back.", + "Shake the yellow-capped orange plastic bottle thoroughly after grabbing it.", + "Use the right arm to hold the orange bottle with bold labeling and shake it.", + "Use the right arm to lift and shake the small bottle with bright yellow lid.", + "Grab the rounded orange bottle with yellow top using the right arm, then shake.", + "Use the right arm to grab the smooth orange cylindrical bottle and shake it.", + "Lift the orange bottle and shake it gently.", + "Shake the smooth orange cylindrical bottle firmly after grabbing.", + "Shake the bottle with yellow cap using the right arm after grabbing.", + "Grab the rounded orange bottle with yellow top with the right arm and shake.", + "Grip the handheld medium-sized liquid bottle using the right arm and shake.", + "Shake the rounded orange bottle with yellow top after holding it firmly.", + "Hold the yellow-capped orange plastic bottle and shake it properly.", + "Pick the yellow-capped orange plastic bottle up using the right arm and shake it.", + "Lift the orange bottle with bold labeling with the right arm and shake.", + "Shake the rounded orange bottle with yellow top after grabbing it.", + "Secure the yellow-capped bottle for beverages and perform a shake.", + "Grab the orange bottle carefully and shake.", + "Hold the orange bottle with bold labeling, shake it briefly.", + "Shake the the orange bottle with bold labeling properly after lifting.", + "Hold the rounded orange bottle with yellow top with the right arm and shake lightly.", + "Shake the liquid container with orange body after grabbing it.", + "Lift up the smooth orange cylindrical bottle using the right arm, then shake.", + "Pick the orange bottle, shake it with the right arm.", + "Pick up the yellow-capped bottle for beverages and shake it well.", + "Grasp the yellow-capped bottle for beverages with the right arm and shake it.", + "Use the right arm to grab the orange bottle and shake properly.", + "Pick the yellow-capped orange plastic bottle and perform shaking motion.", + "Grab the yellow-capped bottle for beverages firmly, shake it, and put it down.", + "Grab and shake the handheld medium-sized liquid bottle using the right arm.", + "Hold the smooth orange cylindrical bottle steady, then shake it.", + "Use the right arm to lift and shake the yellow-capped orange plastic bottle.", + "Secure the small bottle with bright yellow lid, shake it, and place it down.", + "Pick the orange bottle up with the right arm and shake.", + "Lift the yellow-capped bottle for beverages and shake it thoroughly.", + "Use the right arm to pick and shake the rounded orange bottle with yellow top.", + "Lift the yellow-capped bottle for beverages with the right arm and shake it.", + "Hold and shake the the bottle with yellow cap carefully.", + "Shake the rounded orange bottle with yellow top after lifting it.", + "Pick up the bottle with yellow cap and shake it.", + "Catch the cylindrical orange bottle with smooth surface and shake it instantly.", + "With the right arm, pick the bottle with yellow cap and shake properly.", + "Grab the small bottle with bright yellow lid and move it to shake.", + "Utilize the right arm to hold the small bottle with bright yellow lid and shake it.", + "Lift the yellow-capped orange plastic bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth orange cylindrical bottle.", + "Take the orange bottle using the right arm and give it a shake.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Grab the smooth orange cylindrical bottle and give it a shake.", + "Grab the smooth orange cylindrical bottle and shake it steadily.", + "Using the right arm, shake the orange bottle with bold labeling and then place it back.", + "Shake the liquid container with orange body thoroughly after grabbing it.", + "Use the right arm to hold the orange bottle with bold labeling and shake it.", + "Use the right arm to lift and shake the orange bottle with bold labeling.", + "Grab the rounded orange bottle with yellow top using the right arm, then shake.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Lift the rounded orange bottle with yellow top and shake it gently.", + "Shake the yellow-capped bottle for beverages firmly after grabbing.", + "Shake the small bottle with bright yellow lid using the right arm after grabbing.", + "Grab the rounded orange bottle with yellow top with the right arm and shake.", + "Grip the small bottle with bright yellow lid using the right arm and shake.", + "Shake the bottle with yellow cap after holding it firmly.", + "Hold the bottle with yellow cap and shake it properly.", + "Pick the yellow-capped orange plastic bottle up using the right arm and shake it.", + "Lift the orange bottle with bold labeling with the right arm and shake.", + "Shake the handheld medium-sized liquid bottle after grabbing it.", + "Secure the smooth orange cylindrical bottle and perform a shake.", + "Grab the liquid container with orange body carefully and shake.", + "Hold the orange bottle, shake it briefly.", + "Shake the the cylindrical orange bottle with smooth surface properly after lifting.", + "Hold the orange bottle with the right arm and shake lightly.", + "Shake the liquid container with orange body after grabbing it.", + "Lift up the orange bottle with bold labeling using the right arm, then shake.", + "Pick the orange bottle, shake it with the right arm.", + "Pick up the bottle with yellow cap and shake it well.", + "Grasp the liquid container with orange body with the right arm and shake it.", + "Use the right arm to grab the orange bottle with bold labeling and shake properly.", + "Pick the small bottle with bright yellow lid and perform shaking motion.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Grab and shake the orange bottle with bold labeling using the right arm.", + "Hold the orange bottle steady, then shake it.", + "Use the right arm to lift and shake the handheld medium-sized liquid bottle.", + "Secure the rounded bottom orange plastic bottle, shake it, and place it down.", + "Pick the smooth orange cylindrical bottle up with the right arm and shake.", + "Lift the small bottle with bright yellow lid and shake it thoroughly.", + "Use the right arm to pick and shake the orange bottle.", + "Lift the yellow-capped orange plastic bottle with the right arm and shake it.", + "Hold and shake the the yellow-capped bottle for beverages carefully.", + "Shake the rounded bottom orange plastic bottle after lifting it.", + "Pick up the orange bottle with bold labeling and shake it.", + "Catch the rounded bottom orange plastic bottle and shake it instantly.", + "With the right arm, pick the liquid container with orange body and shake properly." + ], + "unseen": [ + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Use the right arm to pick the medium bottle for liquids.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Use the right arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Pick and shake the the medium plastic bottle with the right arm.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Shake the medium bottle for liquids after picking it with the right arm.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Use the right arm to grab the medium plastic bottle and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Use the right arm to pick the medium plastic bottle.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Use the right arm to grab the medium bottle for liquids and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Shake the plastic orange bottle with rounded base after picking it with the right arm.", + "Use the right arm to pick the medium bottle for liquids.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle with the right arm and shake.", + "Pick and shake the the plastic orange bottle with rounded base with the right arm.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Shake the medium plastic bottle after picking it with the right arm.", + "Use the right arm to pick the medium bottle for liquids.", + "Grab the medium plastic bottle and shake it.", + "Pick up the plastic orange bottle with rounded base with the right arm and shake.", + "Pick and shake the the medium bottle for liquids with the right arm.", + "Use the right arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode365.json b/shake_bottle/ur5_randomized_500/instructions/episode365.json new file mode 100644 index 0000000000000000000000000000000000000000..1c37ef3075f1a6bc7dfcf5308c74705ff0c7d436 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode365.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bottle with brown body and white top and shake it well.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Shake the bottle with dark brown color using the right arm after grabbing.", + "Lift the smooth brown bottle with the right arm and shake it.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Use the right arm to hold the medium plastic bottle and shake it.", + "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Lift the medium bottle with smooth texture with the right arm and shake.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Shake the the rounded bottle with printed details properly after lifting.", + "Take the bottle with dark brown color using the right arm and give it a shake.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Using the right arm, shake the plastic bottle for liquids and then place it back.", + "Grip the white-capped brown cylindrical bottle using the right arm and shake.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Shake the bottle with brown body and white top after grabbing it.", + "Shake the medium bottle with smooth texture after lifting it.", + "Lift the plastic bottle with printed label and shake it gently.", + "Hold the smooth brown bottle steady, then shake it.", + "Hold the smooth brown bottle, shake it briefly.", + "Pick the bottle with white cap, shake it with the right arm.", + "With the right arm, pick the smooth brown bottle and shake properly.", + "Grab the medium plastic bottle and give it a shake.", + "Pick the plastic bottle with printed label up with the right arm and shake.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Grab the bottle with brown body and white top firmly, shake it, and put it down.", + "Shake the bottle with dark brown color after grabbing it.", + "Pick the plastic bottle for liquids up using the right arm and shake it.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Utilize the right arm to hold the cylindrical bottle with narrow neck and shake it.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Use the right arm to lift and shake the bottle with white cap.", + "Hold the plastic bottle with printed label and shake it properly.", + "Hold the handheld brown bottle with white lid with the right arm and shake lightly.", + "Grab the white-capped brown cylindrical bottle and shake it steadily.", + "Use the right arm to grab the bottle with white cap and shake it.", + "Grab the medium plastic bottle and move it to shake.", + "Grab and shake the medium plastic bottle using the right arm.", + "Lift the smooth brown bottle with the right arm and give it a shake.", + "Secure the bottle with brown body and white top and perform a shake.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Grab the plastic bottle for liquids with the right arm and shake.", + "Use the right arm to pick and shake the medium plastic bottle.", + "Lift up the bottle with dark brown color using the right arm, then shake.", + "Pick up the medium plastic bottle and shake it well.", + "Shake the smooth brown bottle after grabbing it.", + "Shake the plastic bottle with printed label after holding it firmly.", + "Pick up the white-capped brown cylindrical bottle and shake it.", + "Grab the cylindrical bottle with narrow neck using the right arm, then shake.", + "Shake the handheld brown bottle with white lid using the right arm after grabbing.", + "Lift the bottle with dark brown color with the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Use the right arm to hold the handheld brown bottle with white lid and shake it.", + "Grasp the plastic bottle for liquids with the right arm and shake it.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Lift the medium plastic bottle with the right arm and shake.", + "Secure the bottle with white cap, shake it, and place it down.", + "Shake the the medium bottle with smooth texture properly after lifting.", + "Take the rounded bottle with printed details using the right arm and give it a shake.", + "Shake the medium plastic bottle firmly after grabbing.", + "Using the right arm, shake the medium plastic bottle and then place it back.", + "Grip the cylindrical bottle with narrow neck using the right arm and shake.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Shake the bottle with white cap after grabbing it.", + "Shake the bottle with white cap after lifting it.", + "Lift the bottle with dark brown color and shake it gently.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Pick the bottle with white cap, shake it with the right arm.", + "With the right arm, pick the bottle with dark brown color and shake properly.", + "Grab the bottle with brown body and white top and give it a shake.", + "Pick the medium plastic bottle up with the right arm and shake.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Shake the plastic bottle with printed label after grabbing it.", + "Pick the plastic bottle with printed label up using the right arm and shake it.", + "Catch the bottle with white cap and shake it instantly.", + "Utilize the right arm to hold the plastic bottle for liquids and shake it.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Hold the bottle with dark brown color with the right arm and shake lightly.", + "Grab the bottle with white cap and shake it steadily.", + "Use the right arm to grab the medium plastic bottle and shake it.", + "Grab the medium plastic bottle and move it to shake.", + "Grab and shake the plastic bottle with printed label using the right arm.", + "Lift the plastic bottle with printed label with the right arm and give it a shake.", + "Secure the handheld brown bottle with white lid and perform a shake.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Grab the plastic bottle for liquids with the right arm and shake.", + "Use the right arm to pick and shake the plastic bottle with printed label.", + "Lift up the plastic bottle for liquids using the right arm, then shake." + ], + "unseen": [ + "Use the right arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode366.json b/shake_bottle/ur5_randomized_500/instructions/episode366.json new file mode 100644 index 0000000000000000000000000000000000000000..f21155a78e5339c99e5a014c143cd5926d7dbb35 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode366.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle and move it to shake.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Lift the medium green bottle with the right arm and shake it.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Take the plastic bottle using the right arm and give it a shake.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Shake the bottle with narrow top firmly after grabbing.", + "Grab the medium green bottle carefully and shake.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Hold and shake the the bottle with ridges near base carefully.", + "Use the right arm to lift and shake the handheld green bottle.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Grab the bottle with ridges near base and shake it steadily.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Lift the bottle with white printed label with the right arm and shake.", + "Grip the medium green bottle using the right arm and shake.", + "Lift the bottle with ridges near base and shake it gently.", + "Pick up the medium green bottle and shake it.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "With the right arm, pick the medium green bottle with capped neck and shake properly.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Shake the green bottle with indented base after lifting it.", + "Hold the medium green bottle, shake it briefly.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the medium green bottle.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Pick the medium green bottle and perform shaking motion.", + "Pick the medium green bottle up using the right arm and shake it.", + "Shake the medium green bottle after holding it firmly.", + "Grab and shake the green bottle with indented base using the right arm.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Shake the the smooth green bottle properly after lifting.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Use the right arm to lift and shake the medium green bottle.", + "Pick up the plastic bottle and shake it well.", + "Hold the bottle with narrow top and shake it properly.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Grab the bottle with ridges near base and give it a shake.", + "Hold the handheld green bottle steady, then shake it.", + "Grab the bottle with white printed label with the right arm and shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab the plastic bottle and move it to shake.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the smooth green bottle using the right arm, then shake.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab the green bottle with indented base carefully and shake.", + "Secure the bottle with white printed label and perform a shake.", + "Hold and shake the the medium green bottle carefully.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Grab the medium green bottle and shake it steadily.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Lift the bottle with white printed label with the right arm and shake.", + "Grip the medium-sized green bottle using the right arm and shake.", + "Lift the medium-sized green bottle and shake it gently.", + "Pick up the bottle with narrow top and shake it.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Shake the medium green bottle with capped neck after lifting it.", + "Hold the bottle with narrow top, shake it briefly.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Pick the handheld green bottle and perform shaking motion.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Grab and shake the green bottle with indented base using the right arm.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Shake the the bottle with narrow top properly after lifting.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick up the green bottle with indented base and shake it well.", + "Hold the medium-sized green bottle and shake it properly.", + "Catch the green bottle with indented base and shake it instantly.", + "Grab the medium green bottle and give it a shake.", + "Hold the plastic bottle steady, then shake it.", + "Grab the medium green bottle with the right arm and shake.", + "Secure the medium green bottle, shake it, and place it down." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode367.json b/shake_bottle/ur5_randomized_500/instructions/episode367.json new file mode 100644 index 0000000000000000000000000000000000000000..06746e3275ec87ea16bdbbf64104fec608a4f5ea --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode367.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the grooved orange drink bottle with the left arm and shake it.", + "Pick up the light and medium-sized bottle and shake it.", + "Lift the smooth orange bottle with the left arm and give it a shake.", + "Pick the round-bottom bottle with white cap and perform shaking motion.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Grab the curved orange soda bottle and move it to shake.", + "Use the left arm to grab the ridged orange bottle with grooves and shake it.", + "Pick the round-bottom bottle with white cap up using the left arm and shake it.", + "Use the left arm to pick and shake the orange drink bottle with label.", + "Use the left arm to hold the orange bottle and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Grab the medium bottle with colorful label with the left arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Grab the grooved orange drink bottle using the left arm, then shake.", + "Hold and shake the the orange drink bottle with label carefully.", + "Lift the ridged orange bottle with grooves and shake it gently.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Shake the light and medium-sized bottle after grabbing it.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Use the left arm to grab the ridged orange bottle with grooves and shake properly.", + "Shake the curved orange soda bottle after lifting it.", + "With the left arm, pick the grooved orange drink bottle and shake properly.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Grab the bottle for holding drinks carefully and shake.", + "Catch the cylindrical orange plastic bottle and shake it instantly.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Pick the cylindrical orange plastic bottle up with the left arm and shake.", + "Grasp the grooved orange drink bottle with the left arm and shake it.", + "Grip the ridged orange bottle with grooves using the left arm and shake.", + "Pick up the curved orange soda bottle and shake it well.", + "Lift the smooth orange bottle with the left arm and shake.", + "Grab the smooth orange bottle and give it a shake.", + "Pick the curved orange soda bottle, shake it with the left arm.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Secure the smooth orange bottle and perform a shake.", + "Hold the light and medium-sized bottle with the left arm and shake lightly.", + "Hold the plastic bottle steady, then shake it.", + "Shake the bottle for holding drinks after grabbing it.", + "Shake the ridged orange bottle with grooves using the left arm after grabbing.", + "Lift up the orange drink bottle with label using the left arm, then shake.", + "Grab the light and medium-sized bottle firmly, shake it, and put it down.", + "Take the round-bottom bottle with white cap using the left arm and give it a shake.", + "Shake the orange drink bottle with label after grabbing it.", + "Shake the cylindrical orange plastic bottle after holding it firmly.", + "Shake the smooth orange bottle firmly after grabbing.", + "Grab and shake the smooth orange bottle using the left arm.", + "Lift the plastic bottle with the left arm and shake it.", + "Pick up the orange drink bottle with label and shake it.", + "Lift the medium bottle with colorful label with the left arm and give it a shake.", + "Pick the smooth orange bottle and perform shaking motion.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the ridged orange bottle with grooves and move it to shake.", + "Use the left arm to grab the orange bottle and shake it.", + "Pick the curved orange soda bottle up using the left arm and shake it.", + "Use the left arm to pick and shake the light and medium-sized bottle.", + "Use the left arm to hold the grooved orange drink bottle and shake it.", + "Using the left arm, shake the grooved orange drink bottle and then place it back.", + "Grab the ridged orange bottle with grooves with the left arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Grab the round-bottom bottle with white cap using the left arm, then shake.", + "Hold and shake the the cylindrical orange plastic bottle carefully.", + "Lift the plastic bottle and shake it gently.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Shake the medium bottle with colorful label after grabbing it.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Use the left arm to grab the orange bottle and shake properly.", + "Shake the bottle for holding drinks after lifting it.", + "With the left arm, pick the light and medium-sized bottle and shake properly.", + "Secure the light and medium-sized bottle, shake it, and place it down.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Grab the medium bottle with colorful label carefully and shake.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Shake the grooved orange drink bottle thoroughly after grabbing it.", + "Shake the the smooth orange bottle properly after lifting.", + "Utilize the left arm to hold the light and medium-sized bottle and shake it.", + "Pick the medium bottle with colorful label up with the left arm and shake.", + "Grasp the ridged orange bottle with grooves with the left arm and shake it.", + "Grip the smooth orange bottle using the left arm and shake.", + "Pick up the medium bottle with colorful label and shake it well.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the round-bottom bottle with white cap and give it a shake.", + "Pick the curved orange soda bottle, shake it with the left arm.", + "Hold the medium bottle with colorful label, shake it briefly.", + "Secure the smooth orange bottle and perform a shake.", + "Hold the ridged orange bottle with grooves with the left arm and shake lightly.", + "Hold the orange bottle steady, then shake it.", + "Shake the smooth orange bottle after grabbing it.", + "Shake the ridged orange bottle with grooves using the left arm after grabbing.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the orange bottle after grabbing it.", + "Shake the orange drink bottle with label after holding it firmly.", + "Shake the bottle for holding drinks firmly after grabbing.", + "Grab and shake the orange drink bottle with label using the left arm." + ], + "unseen": [ + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Shake the bottle with ridged orange grip after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode368.json b/shake_bottle/ur5_randomized_500/instructions/episode368.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a063049bb32ca8056bcce05654c0d9d8ca2c34 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode368.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle with curved sides and move it to shake.", + "Shake the plastic bottle after holding it firmly.", + "Hold the yellow bottle with blue label steady, then shake it.", + "Shake the bottle for liquid firmly after grabbing.", + "Grab the bottle for liquid and shake it steadily.", + "Grip the yellow bottle with dark label using the left arm and shake.", + "Pick up the plastic bottle with curved sides and shake it.", + "Grab the handheld curvy bottle using the left arm, then shake.", + "Lift the yellow bottle with dark label with the left arm and give it a shake.", + "Pick the yellow bottle for liquid storage up with the left arm and shake.", + "Grasp the handheld curvy bottle with the left arm and shake it.", + "Lift up the plastic bottle with curved sides using the left arm, then shake.", + "Pick the bottle for liquid, shake it with the left arm.", + "Pick the yellow bottle and perform shaking motion.", + "Grab the plastic bottle and give it a shake.", + "Hold the yellow bottle with blue label and shake it properly.", + "Pick the plastic bottle with curved sides up using the left arm and shake it.", + "Shake the bottle for liquid after grabbing it.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Shake the the handheld curvy bottle properly after lifting.", + "Use the left arm to pick and shake the yellow bottle for liquid storage.", + "Grab the smooth plastic bottle carefully and shake.", + "Shake the yellow bottle with blue label after grabbing it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Use the left arm to grab the bottle for liquid and shake it.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Secure the plastic bottle and perform a shake.", + "Grab and shake the plastic bottle using the left arm.", + "Lift the yellow bottle for liquid storage with the left arm and shake.", + "Secure the bottle for liquid, shake it, and place it down.", + "Lift the yellow bottle with dark label with the left arm and shake it.", + "Pick up the bottle with screw cap and shake it well.", + "Use the left arm to grab the plastic bottle with curved sides and shake properly.", + "Hold and shake the the yellow bottle for liquid storage carefully.", + "Lift the yellow bottle with dark label and shake it thoroughly.", + "Using the left arm, shake the medium plastic bottle with cap and then place it back.", + "Lift the yellow bottle with blue label and shake it gently.", + "Use the left arm to lift and shake the yellow bottle.", + "Catch the medium plastic bottle with cap and shake it instantly.", + "Grab the yellow bottle with blue label firmly, shake it, and put it down.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Shake the yellow bottle with dark label using the left arm after grabbing.", + "Grab the bottle with screw cap with the left arm and shake.", + "Take the bottle with screw cap using the left arm and give it a shake.", + "Shake the plastic bottle with curved sides after lifting it.", + "Shake the bottle for liquid after grabbing it.", + "Hold the medium-sized bottle, shake it briefly.", + "With the left arm, pick the medium plastic bottle with cap and shake properly.", + "Utilize the left arm to hold the yellow bottle for liquid storage and shake it.", + "Grab the smooth plastic bottle and move it to shake.", + "Shake the yellow bottle for liquid storage after holding it firmly.", + "Hold the handheld curvy bottle steady, then shake it.", + "Shake the medium plastic bottle with cap firmly after grabbing.", + "Grab the medium plastic bottle with cap and shake it steadily.", + "Grip the yellow bottle using the left arm and shake.", + "Pick up the yellow bottle and shake it.", + "Grab the plastic bottle with curved sides using the left arm, then shake.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Grasp the plastic bottle with curved sides with the left arm and shake it.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Pick the plastic bottle, shake it with the left arm.", + "Pick the yellow bottle with dark label and perform shaking motion.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Hold the medium-sized bottle and shake it properly.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the the yellow bottle for liquid storage properly after lifting.", + "Use the left arm to pick and shake the yellow bottle with blue label.", + "Grab the bottle with screw cap carefully and shake.", + "Shake the yellow bottle with blue label after grabbing it.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Use the left arm to grab the yellow bottle with blue label and shake it.", + "Use the left arm to hold the medium plastic bottle with cap and shake it.", + "Secure the yellow bottle and perform a shake.", + "Grab and shake the bottle for liquid using the left arm.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Secure the yellow bottle with dark label, shake it, and place it down.", + "Lift the medium plastic bottle with cap with the left arm and shake it.", + "Pick up the bottle for liquid and shake it well.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Hold and shake the the yellow bottle for liquid storage carefully.", + "Lift the yellow bottle and shake it thoroughly.", + "Using the left arm, shake the yellow bottle for liquid storage and then place it back.", + "Lift the plastic bottle and shake it gently.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Catch the yellow bottle for liquid storage and shake it instantly.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Shake the bottle for liquid thoroughly after grabbing it.", + "Shake the yellow bottle using the left arm after grabbing.", + "Grab the bottle for liquid with the left arm and shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the plastic bottle with curved sides after lifting it.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Hold the bottle for liquid, shake it briefly.", + "With the left arm, pick the yellow bottle and shake properly.", + "Utilize the left arm to hold the yellow bottle for liquid storage and shake it." + ], + "unseen": [ + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode369.json b/shake_bottle/ur5_randomized_500/instructions/episode369.json new file mode 100644 index 0000000000000000000000000000000000000000..a7c4d551b7bfd58468ff55b1ffdff6c27373047c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode369.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the plastic bottle with colored label and shake properly.", + "Pick the plastic bottle with colored label, shake it with the right arm.", + "Pick the plastic bottle with colored label up with the right arm and shake.", + "Hold and shake the the handheld plastic bottle carefully.", + "Use the right arm to lift and shake the green bottle with black text label.", + "Shake the plastic bottle with colored label after grabbing it.", + "Pick up the green bottle with black text label and shake it well.", + "Hold the smooth green and yellow bottle steady, then shake it.", + "Catch the handheld plastic bottle and shake it instantly.", + "Use the right arm to lift and shake the bottle with glossy plastic finish.", + "Hold the cylindrical bottle with rounded cap and shake it properly.", + "Shake the cylindrical liquid bottle with yellow top thoroughly after grabbing it.", + "Use the right arm to pick and shake the smooth green and yellow bottle.", + "Lift up the bottle with glossy plastic finish using the right arm, then shake.", + "Lift the cylindrical liquid bottle with yellow top with the right arm and shake it.", + "Lift the cylindrical bottle with rounded cap and shake it gently.", + "Shake the cylindrical liquid bottle with yellow top using the right arm after grabbing.", + "Shake the the handheld plastic bottle properly after lifting.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Lift the medium bottle with green body and shake it thoroughly.", + "Lift the medium bottle with green body with the right arm and give it a shake.", + "Grab the green bottle with black text label with the right arm and shake.", + "Use the right arm to lift and shake the smooth green and yellow bottle.", + "Shake the green bottle with white label after holding it firmly.", + "Grab the green bottle carefully and shake.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Use the right arm to grab the green bottle and shake it.", + "Secure the handheld plastic bottle and perform a shake.", + "Utilize the right arm to hold the smooth green and yellow bottle and shake it.", + "Shake the green bottle with white label firmly after grabbing.", + "Grab the bottle with glossy plastic finish and move it to shake.", + "Using the right arm, shake the bottle with glossy plastic finish and then place it back.", + "Secure the green bottle with black text label, shake it, and place it down.", + "Lift the handheld plastic bottle with the right arm and shake.", + "Pick the green bottle with black text label and perform shaking motion.", + "Use the right arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Grab the medium bottle with green body using the right arm, then shake.", + "Grasp the handheld plastic bottle with the right arm and shake it.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab the medium bottle with green body and shake it steadily.", + "Take the cylindrical liquid bottle with yellow top using the right arm and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the plastic bottle with colored label after lifting it.", + "Grab the plastic bottle and give it a shake.", + "Grab the green bottle with black text label firmly, shake it, and put it down.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Hold the bottle with yellow cap, shake it briefly.", + "Shake the green bottle after grabbing it.", + "Grip the green bottle with black text label using the right arm and shake.", + "Use the right arm to grab the green bottle and shake properly.", + "With the right arm, pick the green bottle with white label and shake properly.", + "Pick the green bottle, shake it with the right arm.", + "Pick the cylindrical bottle with rounded cap up with the right arm and shake.", + "Hold and shake the the bottle with glossy plastic finish carefully.", + "Use the right arm to lift and shake the green bottle with black text label.", + "Shake the plastic bottle after grabbing it.", + "Pick up the green bottle and shake it well.", + "Hold the plastic bottle with colored label steady, then shake it.", + "Catch the smooth green and yellow bottle and shake it instantly.", + "Use the right arm to lift and shake the green bottle.", + "Hold the green bottle and shake it properly.", + "Shake the handheld plastic bottle thoroughly after grabbing it.", + "Use the right arm to pick and shake the plastic bottle.", + "Lift up the green bottle with black text label using the right arm, then shake.", + "Lift the smooth green and yellow bottle with the right arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Shake the bottle with glossy plastic finish using the right arm after grabbing.", + "Shake the the medium bottle with green body properly after lifting.", + "Shake the bottle with yellow cap after grabbing it.", + "Lift the green bottle and shake it thoroughly.", + "Lift the bottle with glossy plastic finish with the right arm and give it a shake.", + "Grab the cylindrical liquid bottle with yellow top with the right arm and shake.", + "Use the right arm to lift and shake the green bottle.", + "Shake the medium bottle with green body after holding it firmly.", + "Grab the bottle with glossy plastic finish carefully and shake.", + "Hold the cylindrical liquid bottle with yellow top with the right arm and shake lightly.", + "Use the right arm to grab the cylindrical bottle with rounded cap and shake it.", + "Secure the green bottle and perform a shake.", + "Utilize the right arm to hold the bottle with yellow cap and shake it.", + "Shake the cylindrical bottle with rounded cap firmly after grabbing.", + "Grab the cylindrical liquid bottle with yellow top and move it to shake.", + "Using the right arm, shake the cylindrical liquid bottle with yellow top and then place it back.", + "Secure the smooth green and yellow bottle, shake it, and place it down.", + "Lift the cylindrical liquid bottle with yellow top with the right arm and shake.", + "Pick the medium bottle with green body and perform shaking motion.", + "Use the right arm to hold the green bottle with white label and shake it.", + "Grab the cylindrical liquid bottle with yellow top using the right arm, then shake.", + "Grasp the cylindrical bottle with rounded cap with the right arm and shake it.", + "Pick the bottle with glossy plastic finish up using the right arm and shake it.", + "Grab the bottle with yellow cap and shake it steadily.", + "Take the medium bottle with green body using the right arm and give it a shake.", + "Pick up the bottle with yellow cap and shake it.", + "Shake the cylindrical bottle with rounded cap after lifting it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the smooth green and yellow bottle firmly, shake it, and put it down.", + "Grab and shake the cylindrical liquid bottle with yellow top using the right arm.", + "Hold the handheld plastic bottle, shake it briefly.", + "Shake the green bottle after grabbing it.", + "Grip the cylindrical liquid bottle with yellow top using the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake properly." + ], + "unseen": [ + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode37.json b/shake_bottle/ur5_randomized_500/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..c861323289a88341ff6568f78e2112ca8d40386f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the yellow bottle with a green design with the right arm and shake lightly.", + "Pick the medium rectangular yellow bottle, shake it with the right arm.", + "Lift the medium rectangular yellow bottle with the right arm and shake.", + "Shake the yellow bottle with a green design after lifting it.", + "Shake the plastic bottle firmly after grabbing.", + "Use the right arm to grab the yellow bottle and shake it.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.", + "Hold the bottle with green label, shake it briefly.", + "Pick the yellow bottle with a green design up using the right arm and shake it.", + "Hold the bottle with green label steady, then shake it.", + "Lift the yellow bottle and shake it thoroughly.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Grip the rectangular bottle with cylindrical neck using the right arm and shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Shake the bottle with green and white labels after holding it firmly.", + "Pick the bottle with white cap up with the right arm and shake.", + "Grab the yellow bottle and give it a shake.", + "Secure the yellow bottle, shake it, and place it down.", + "Lift the bottle with green label with the right arm and give it a shake.", + "Grab the yellow bottle with a green design using the right arm, then shake.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Take the smooth bottle with rounded edges using the right arm and give it a shake.", + "With the right arm, pick the yellow bottle and shake properly.", + "Hold the rectangular bottle with cylindrical neck and shake it properly.", + "Secure the bottle with green label and perform a shake.", + "Lift the bottle with green label with the right arm and shake it.", + "Grab and shake the bottle with white cap using the right arm.", + "Grasp the yellow plastic bottle with white top with the right arm and shake it.", + "Lift up the bottle with a smooth plastic body using the right arm, then shake.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Utilize the right arm to hold the bottle with green and white labels and shake it.", + "Using the right arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Lift the plastic bottle and shake it gently.", + "Pick up the medium rectangular yellow bottle and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Shake the the bottle with green label properly after lifting.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Use the right arm to hold the yellow plastic bottle with white top and shake it.", + "Grab the yellow bottle with a green design with the right arm and shake.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Use the right arm to pick and shake the medium rectangular yellow bottle.", + "Use the right arm to lift and shake the bottle with white cap.", + "Shake the yellow bottle with a green design after grabbing it.", + "Grab the yellow bottle and shake it steadily.", + "Shake the bottle with white cap using the right arm after grabbing.", + "Hold the bottle with green and white labels with the right arm and shake lightly.", + "Pick the smooth bottle with rounded edges, shake it with the right arm.", + "Lift the bottle with green and white labels with the right arm and shake.", + "Shake the bottle with white cap after lifting it.", + "Shake the bottle with green label firmly after grabbing.", + "Use the right arm to grab the plastic bottle and shake it.", + "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Pick the yellow plastic bottle with white top up using the right arm and shake it.", + "Hold the bottle with white cap steady, then shake it.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Use the right arm to lift and shake the bottle with white cap.", + "Grip the bottle with green label using the right arm and shake.", + "Pick the medium rectangular yellow bottle and perform shaking motion.", + "Shake the medium rectangular yellow bottle after holding it firmly.", + "Pick the rectangular bottle with cylindrical neck up with the right arm and shake.", + "Grab the yellow bottle and give it a shake.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Grab the medium rectangular yellow bottle using the right arm, then shake.", + "Pick up the yellow bottle and shake it well.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Take the yellow plastic bottle with white top using the right arm and give it a shake.", + "With the right arm, pick the yellow bottle with a green design and shake properly.", + "Hold the bottle with white cap and shake it properly.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Grab and shake the bottle with green and white labels using the right arm.", + "Grasp the yellow container with rounded edges with the right arm and shake it.", + "Lift up the smooth bottle with rounded edges using the right arm, then shake.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Utilize the right arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Using the right arm, shake the yellow container with rounded edges and then place it back.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Pick up the yellow bottle with a green design and shake it.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Catch the bottle with white cap and shake it instantly.", + "Shake the the yellow bottle properly after lifting.", + "Use the right arm to grab the yellow plastic bottle with white top and shake properly.", + "Use the right arm to hold the bottle with white cap and shake it.", + "Grab the bottle with white cap with the right arm and shake.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Use the right arm to pick and shake the yellow bottle with a green design.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Grab the yellow bottle and shake it steadily.", + "Shake the yellow plastic bottle with white top using the right arm after grabbing." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Shake the yellow rectangular bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode370.json b/shake_bottle/ur5_randomized_500/instructions/episode370.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb4c4f58693b7089b04bc9b932c28e1a53fdcad --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode370.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle carefully and shake.", + "Shake the bottle with tapering neck using the left arm after grabbing.", + "Grab and shake the white cylindrical bottle using the left arm.", + "Shake the smooth bottle firmly after grabbing.", + "Use the left arm to grab the white bottle with orange lid and shake properly.", + "Pick up the medium-sized bottle and shake it.", + "Shake the white bottle after holding it firmly.", + "Hold the bottle with tapering neck, shake it briefly.", + "Lift up the white bottle with orange lid using the left arm, then shake.", + "Grab the white bottle firmly, shake it, and put it down.", + "Grab the white bottle for liquids with the left arm and shake.", + "Grab the white bottle for liquids and give it a shake.", + "Pick the bottle with orange screw cap up using the left arm and shake it.", + "Lift the bottle with orange screw cap with the left arm and shake.", + "Lift the white bottle and shake it gently.", + "Pick up the white cylindrical bottle and shake it well.", + "Use the left arm to grab the white bottle and shake it.", + "Use the left arm to pick and shake the bottle with orange screw cap.", + "Hold the white cylindrical bottle and shake it properly.", + "Shake the smooth bottle after grabbing it.", + "Use the left arm to lift and shake the handheld white bottle with cap.", + "Secure the white cylindrical bottle, shake it, and place it down.", + "Grab the white bottle with red text and move it to shake.", + "Use the left arm to hold the white cylindrical bottle and shake it.", + "With the left arm, pick the cylindrical bottle with red writing and shake properly.", + "Pick the white bottle and perform shaking motion.", + "Hold the medium-sized bottle steady, then shake it.", + "Lift the white bottle with the left arm and shake it.", + "Catch the white cylindrical bottle and shake it instantly.", + "Grab the bottle with orange screw cap and shake it steadily.", + "Utilize the left arm to hold the white bottle for liquids and shake it.", + "Shake the cylindrical bottle with red writing thoroughly after grabbing it.", + "Shake the the handheld white bottle with cap properly after lifting.", + "Take the bottle with tapering neck using the left arm and give it a shake.", + "Hold the white bottle with the left arm and shake lightly.", + "Lift the white bottle for liquids and shake it thoroughly.", + "Secure the smooth bottle and perform a shake.", + "Shake the white cylindrical bottle after grabbing it.", + "Shake the white bottle after lifting it.", + "Grasp the bottle with tapering neck with the left arm and shake it.", + "Use the left arm to lift and shake the handheld white bottle with cap.", + "Grip the white bottle with red text using the left arm and shake.", + "Pick the cylindrical bottle with red writing up with the left arm and shake.", + "Using the left arm, shake the white cylindrical bottle and then place it back.", + "Grab the smooth bottle using the left arm, then shake.", + "Hold and shake the the white bottle with red text carefully.", + "Lift the smooth bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the white bottle.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Pick the white bottle for liquids, shake it with the left arm.", + "Grab the smooth bottle carefully and shake.", + "Shake the white cylindrical bottle using the left arm after grabbing.", + "Grab and shake the white bottle using the left arm.", + "Shake the bottle with tapering neck firmly after grabbing.", + "Use the left arm to grab the bottle with orange screw cap and shake properly.", + "Pick up the handheld white bottle with cap and shake it.", + "Shake the white bottle for liquids after holding it firmly.", + "Hold the bottle with tapering neck, shake it briefly.", + "Lift up the smooth bottle using the left arm, then shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the bottle with orange screw cap with the left arm and shake.", + "Grab the smooth bottle and give it a shake.", + "Pick the bottle with tapering neck up using the left arm and shake it.", + "Lift the white bottle with red text with the left arm and shake.", + "Lift the white cylindrical bottle and shake it gently.", + "Pick up the bottle with orange screw cap and shake it well.", + "Use the left arm to grab the white cylindrical bottle and shake it.", + "Use the left arm to pick and shake the cylindrical bottle with red writing.", + "Hold the handheld white bottle with cap and shake it properly.", + "Shake the bottle with tapering neck after grabbing it.", + "Use the left arm to lift and shake the white bottle with red text.", + "Secure the bottle with tapering neck, shake it, and place it down.", + "Grab the white cylindrical bottle and move it to shake.", + "Use the left arm to hold the smooth bottle and shake it.", + "With the left arm, pick the bottle with tapering neck and shake properly.", + "Pick the cylindrical bottle with red writing and perform shaking motion.", + "Hold the cylindrical bottle with red writing steady, then shake it.", + "Lift the white bottle for liquids with the left arm and shake it.", + "Catch the cylindrical bottle with red writing and shake it instantly.", + "Grab the white bottle for liquids and shake it steadily.", + "Utilize the left arm to hold the cylindrical bottle with red writing and shake it.", + "Shake the white bottle with red text thoroughly after grabbing it.", + "Shake the the smooth bottle properly after lifting.", + "Take the cylindrical bottle with red writing using the left arm and give it a shake.", + "Hold the handheld white bottle with cap with the left arm and shake lightly.", + "Lift the white bottle with red text and shake it thoroughly.", + "Secure the white cylindrical bottle and perform a shake.", + "Shake the bottle with orange screw cap after grabbing it.", + "Shake the medium-sized bottle after lifting it.", + "Grasp the bottle with orange screw cap with the left arm and shake it.", + "Use the left arm to lift and shake the white cylindrical bottle.", + "Grip the handheld white bottle with cap using the left arm and shake.", + "Pick the smooth bottle up with the left arm and shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Grab the white cylindrical bottle using the left arm, then shake.", + "Hold and shake the the white bottle with red text carefully.", + "Lift the smooth bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the cylindrical bottle with red writing.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Pick the medium-sized bottle, shake it with the left arm." + ], + "unseen": [ + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode371.json b/shake_bottle/ur5_randomized_500/instructions/episode371.json new file mode 100644 index 0000000000000000000000000000000000000000..40fd409c8263925fedeab50d8a6fb1f11f0c65ae --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode371.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with green cap after grabbing it.", + "Shake the brown bottle after holding it firmly.", + "Grab the bottle with flat sides and logo with the left arm and shake.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick up the rectangular brown body with white top and shake it.", + "Hold and shake the the smooth plastic bottle with white cap carefully.", + "Grab the brown bottle and shake it steadily.", + "Hold the rectangular brown body with white top steady, then shake it.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Use the left arm to hold the bottle with flat sides and logo and shake it.", + "Lift up the medium-sized brown plastic bottle using the left arm, then shake.", + "Lift the dark brown bottle with a squared body with the left arm and shake.", + "Hold the rectangular brown body with white top with the left arm and shake lightly.", + "Shake the plastic bottle after grabbing it.", + "Pick the medium-sized brown plastic bottle up with the left arm and shake.", + "Secure the bottle with green cap and perform a shake.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Lift the smooth brown bottle with green label and shake it gently.", + "Grab the plastic bottle and move it to shake.", + "Grab the brown bottle with rounded rectangular shape carefully and shake.", + "Lift the bottle with flat sides and logo with the left arm and shake it.", + "Lift the dark brown bottle with a squared body with the left arm and give it a shake.", + "Catch the smooth plastic bottle with white cap and shake it instantly.", + "Grab and shake the bottle with flat sides and logo using the left arm.", + "Shake the the bottle with flat sides and logo properly after lifting.", + "Grip the brown bottle using the left arm and shake.", + "Grab the medium bottle with glossy surface using the left arm, then shake.", + "Shake the smooth plastic bottle with white cap using the left arm after grabbing.", + "Using the left arm, shake the medium-sized brown plastic bottle and then place it back.", + "Shake the brown bottle with rounded rectangular shape firmly after grabbing.", + "Pick the medium bottle with glossy surface, shake it with the left arm.", + "Pick up the brown bottle with rounded rectangular shape and shake it well.", + "Hold the rectangular-shaped bottle with round cap, shake it briefly.", + "Grab the smooth brown bottle with green label and give it a shake.", + "Use the left arm to pick and shake the bottle with green cap.", + "Take the rectangular brown body with white top using the left arm and give it a shake.", + "Secure the bottle with green cap, shake it, and place it down.", + "Hold the brown bottle and shake it properly.", + "With the left arm, pick the brown bottle with rounded rectangular shape and shake properly.", + "Use the left arm to grab the bottle with flat sides and logo and shake it.", + "Utilize the left arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Pick the smooth brown bottle with green label and perform shaking motion.", + "Grasp the medium bottle with glossy surface with the left arm and shake it.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Shake the rectangular-shaped bottle with round cap after holding it firmly.", + "Grab the medium bottle with glossy surface with the left arm and shake.", + "Shake the brown bottle with rounded rectangular shape after lifting it.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Grab the smooth brown bottle with green label firmly, shake it, and put it down.", + "Use the left arm to grab the bottle with green cap and shake properly.", + "Pick the smooth brown bottle with green label up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Shake the medium-sized brown plastic bottle thoroughly after grabbing it.", + "Lift the brown bottle and shake it thoroughly.", + "Pick up the smooth brown bottle with green label and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Grab the medium bottle with glossy surface and shake it steadily.", + "Hold the rectangular brown body with white top steady, then shake it.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Use the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Lift up the smooth brown bottle with green label using the left arm, then shake.", + "Lift the dark brown bottle with a squared body with the left arm and shake.", + "Hold the rectangular brown body with white top with the left arm and shake lightly.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Pick the smooth brown bottle with green label up with the left arm and shake.", + "Secure the bottle with green cap and perform a shake.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Lift the dark brown bottle with a squared body and shake it gently.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Grab the plastic bottle carefully and shake.", + "Lift the smooth brown bottle with green label with the left arm and shake it.", + "Lift the rectangular brown body with white top with the left arm and give it a shake.", + "Catch the bottle with flat sides and logo and shake it instantly.", + "Grab and shake the smooth brown bottle with green label using the left arm.", + "Shake the the smooth plastic bottle with white cap properly after lifting.", + "Grip the smooth plastic bottle with white cap using the left arm and shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Using the left arm, shake the rectangular-shaped bottle with round cap and then place it back.", + "Shake the rectangular brown body with white top firmly after grabbing.", + "Pick the bottle with flat sides and logo, shake it with the left arm.", + "Pick up the rectangular-shaped bottle with round cap and shake it well.", + "Hold the bottle with flat sides and logo, shake it briefly.", + "Grab the bottle with green cap and give it a shake.", + "Use the left arm to pick and shake the brown bottle with rounded rectangular shape.", + "Take the dark brown bottle with a squared body using the left arm and give it a shake.", + "Secure the medium bottle with glossy surface, shake it, and place it down.", + "Hold the bottle with flat sides and logo and shake it properly.", + "With the left arm, pick the dark brown bottle with a squared body and shake properly.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake it.", + "Utilize the left arm to hold the bottle with flat sides and logo and shake it.", + "Pick the smooth brown bottle with green label and perform shaking motion.", + "Grasp the medium bottle with glossy surface with the left arm and shake it." + ], + "unseen": [ + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode372.json b/shake_bottle/ur5_randomized_500/instructions/episode372.json new file mode 100644 index 0000000000000000000000000000000000000000..e2a865e0d4ecbd0e55a16a149a204a622fe179bf --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode372.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with black textured cap thoroughly after grabbing it.", + "Utilize the right arm to hold the blue bottle and shake it.", + "With the right arm, pick the light blue bottle with strap-loop and shake properly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to lift and shake the bottle with black textured cap.", + "Pick the cylindrical bottle with rounded edges up using the right arm and shake it.", + "Shake the plastic bottle with black top after holding it firmly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grab and shake the medium water bottle using the right arm.", + "Use the right arm to grab the portable bottle for liquids and shake properly.", + "Shake the the rounded bottle with black lid properly after lifting.", + "Hold and shake the the plastic bottle carefully.", + "Grab the plastic bottle and shake it steadily.", + "Use the right arm to hold the portable bottle for liquids and shake it.", + "Grab the light blue bottle with smooth body and give it a shake.", + "Grab the plastic bottle with black top firmly, shake it, and put it down.", + "Lift the light blue bottle with strap-loop with the right arm and shake it.", + "Lift the medium water bottle and shake it thoroughly.", + "Shake the light blue bottle with strap-loop after grabbing it.", + "Pick up the plastic bottle with black top and shake it well.", + "Grip the bottle with black textured cap using the right arm and shake.", + "Pick the portable bottle for liquids up with the right arm and shake.", + "Grab the rounded bottle with black lid using the right arm, then shake.", + "Hold the plastic bottle and shake it properly.", + "Lift the medium water bottle with the right arm and shake.", + "Grasp the medium water bottle with the right arm and shake it.", + "Pick up the portable bottle for liquids and shake it.", + "Grab the medium water bottle carefully and shake.", + "Use the right arm to lift and shake the medium water bottle.", + "Use the right arm to lift and shake the medium water bottle.", + "Take the cylindrical bottle with rounded edges using the right arm and give it a shake.", + "Grab the light blue cylindrical bottle with the right arm and shake.", + "Shake the light blue bottle with strap-loop after grabbing it.", + "Hold the blue water bottle with textured lid steady, then shake it.", + "Shake the light blue bottle with strap-loop using the right arm after grabbing.", + "Shake the blue bottle after lifting it.", + "Lift up the light blue bottle with smooth body using the right arm, then shake.", + "Lift the plastic bottle with black top and shake it gently.", + "Secure the portable bottle for liquids, shake it, and place it down.", + "Secure the light blue bottle with smooth body and perform a shake.", + "Hold the bottle with black textured cap, shake it briefly.", + "Catch the blue bottle and shake it instantly.", + "Hold the light blue bottle with strap-loop with the right arm and shake lightly.", + "Grab the rounded bottle with black lid and move it to shake.", + "Shake the cylindrical bottle with rounded edges after grabbing it.", + "Pick the plastic bottle, shake it with the right arm.", + "Pick the plastic bottle and perform shaking motion.", + "Use the right arm to grab the light blue bottle with strap-loop and shake it.", + "Shake the medium water bottle firmly after grabbing.", + "Use the right arm to pick and shake the blue bottle.", + "Shake the light blue cylindrical bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the light blue cylindrical bottle and shake it.", + "With the right arm, pick the light blue bottle with smooth body and shake properly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to lift and shake the blue water bottle with textured lid.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the blue bottle after holding it firmly.", + "Lift the cylindrical bottle with rounded edges with the right arm and give it a shake.", + "Grab and shake the cylindrical bottle with rounded edges using the right arm.", + "Use the right arm to grab the bottle with black textured cap and shake properly.", + "Shake the the bottle with black textured cap properly after lifting.", + "Hold and shake the the medium water bottle carefully.", + "Grab the plastic bottle with black top and shake it steadily.", + "Use the right arm to hold the medium water bottle and shake it.", + "Grab the light blue bottle with smooth body and give it a shake.", + "Grab the medium water bottle firmly, shake it, and put it down.", + "Lift the light blue cylindrical bottle with the right arm and shake it.", + "Lift the light blue bottle with smooth body and shake it thoroughly.", + "Shake the plastic bottle with black top after grabbing it.", + "Pick up the cylindrical bottle with rounded edges and shake it well.", + "Grip the medium water bottle using the right arm and shake.", + "Pick the medium water bottle up with the right arm and shake.", + "Grab the blue bottle using the right arm, then shake.", + "Hold the light blue bottle with smooth body and shake it properly.", + "Lift the plastic bottle with the right arm and shake.", + "Grasp the light blue bottle with smooth body with the right arm and shake it.", + "Pick up the plastic bottle with black top and shake it.", + "Grab the rounded bottle with black lid carefully and shake.", + "Use the right arm to lift and shake the bottle with black textured cap.", + "Use the right arm to lift and shake the cylindrical bottle with rounded edges.", + "Take the cylindrical bottle with rounded edges using the right arm and give it a shake.", + "Grab the blue water bottle with textured lid with the right arm and shake.", + "Shake the portable bottle for liquids after grabbing it.", + "Hold the bottle with black textured cap steady, then shake it.", + "Shake the cylindrical bottle with rounded edges using the right arm after grabbing.", + "Shake the light blue cylindrical bottle after lifting it.", + "Lift up the blue bottle using the right arm, then shake.", + "Lift the medium water bottle and shake it gently.", + "Secure the light blue bottle with strap-loop, shake it, and place it down.", + "Secure the plastic bottle with black top and perform a shake.", + "Hold the light blue cylindrical bottle, shake it briefly.", + "Catch the light blue cylindrical bottle and shake it instantly.", + "Hold the light blue cylindrical bottle with the right arm and shake lightly.", + "Grab the plastic bottle with black top and move it to shake.", + "Shake the plastic bottle with black top after grabbing it.", + "Pick the portable bottle for liquids, shake it with the right arm.", + "Pick the cylindrical bottle with rounded edges and perform shaking motion.", + "Use the right arm to grab the blue bottle and shake it.", + "Shake the light blue bottle with smooth body firmly after grabbing.", + "Use the right arm to pick and shake the rounded bottle with black lid." + ], + "unseen": [ + "Shake the smooth blue water bottle after picking it with the right arm.", + "Pick and shake the the smooth blue water bottle with the right arm.", + "Pick up the bottle with attached loop on cap with the right arm and shake.", + "Use the right arm to pick the smooth blue water bottle.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Grab the smooth blue water bottle and give it a shake.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the smooth blue water bottle after picking it with the right arm.", + "Pick and shake the the bottle with attached loop on cap with the right arm.", + "Pick up the cylindrical plastic bottle for carrying water with the right arm and shake.", + "Use the right arm to pick the bottle with attached loop on cap.", + "Grab the smooth blue water bottle and shake it.", + "Use the right arm to grab the smooth blue water bottle and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the bottle with attached loop on cap after picking it with the right arm.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the right arm.", + "Pick up the smooth blue water bottle with the right arm and shake.", + "Use the right arm to pick the bottle with attached loop on cap.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Shake the bottle with attached loop on cap after picking it with the right arm.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the right arm.", + "Pick up the smooth blue water bottle with the right arm and shake.", + "Use the right arm to pick the bottle with attached loop on cap.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Use the right arm to grab the smooth blue water bottle and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Shake the bottle with attached loop on cap after picking it with the right arm.", + "Pick and shake the the smooth blue water bottle with the right arm.", + "Pick up the bottle with attached loop on cap with the right arm and shake.", + "Use the right arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the bottle with attached loop on cap and shake it.", + "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Grab the smooth blue water bottle and give it a shake.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the smooth blue water bottle after picking it with the right arm.", + "Pick and shake the the bottle with attached loop on cap with the right arm.", + "Pick up the bottle with attached loop on cap with the right arm and shake.", + "Use the right arm to pick the smooth blue water bottle.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Use the right arm to grab the bottle with attached loop on cap and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Shake the smooth blue water bottle after picking it with the right arm.", + "Pick and shake the the smooth blue water bottle with the right arm.", + "Pick up the smooth blue water bottle with the right arm and shake.", + "Use the right arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the smooth blue water bottle and shake it.", + "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Grab the smooth blue water bottle and give it a shake.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the smooth blue water bottle after picking it with the right arm.", + "Pick and shake the the bottle with attached loop on cap with the right arm.", + "Pick up the bottle with attached loop on cap with the right arm and shake.", + "Use the right arm to pick the bottle with attached loop on cap.", + "Grab the smooth blue water bottle and shake it.", + "Use the right arm to grab the smooth blue water bottle and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the smooth blue water bottle after picking it with the right arm.", + "Pick and shake the the smooth blue water bottle with the right arm.", + "Pick up the cylindrical plastic bottle for carrying water with the right arm and shake.", + "Use the right arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the smooth blue water bottle and shake it.", + "Use the right arm to grab the bottle with attached loop on cap and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Grab the smooth blue water bottle and give it a shake.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the right arm.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the right arm.", + "Pick up the cylindrical plastic bottle for carrying water with the right arm and shake.", + "Use the right arm to pick the cylindrical plastic bottle for carrying water.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick up the bottle with attached loop on cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode373.json b/shake_bottle/ur5_randomized_500/instructions/episode373.json new file mode 100644 index 0000000000000000000000000000000000000000..82b850fb605cc157833a08d6a53df068686a2acd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode373.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized brown plastic bottle and shake it steadily.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the rectangular brown body with white top after grabbing it.", + "Grasp the medium-sized brown plastic bottle with the left arm and shake it.", + "Hold the brown bottle, shake it briefly.", + "Grab the smooth brown bottle with green label and give it a shake.", + "Use the left arm to lift and shake the smooth plastic bottle with white cap.", + "Shake the medium bottle with glossy surface after lifting it.", + "Use the left arm to pick and shake the brown bottle.", + "Pick the rectangular brown body with white top up with the left arm and shake.", + "Grip the rectangular brown body with white top using the left arm and shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Utilize the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Lift the bottle with green cap and shake it thoroughly.", + "Grab the rectangular brown body with white top using the left arm, then shake.", + "Secure the bottle with green cap, shake it, and place it down.", + "Lift the medium-sized brown plastic bottle with the left arm and give it a shake.", + "Lift the smooth brown bottle with green label with the left arm and shake.", + "Pick up the bottle with green cap and shake it.", + "Shake the medium bottle with glossy surface firmly after grabbing.", + "Grab and shake the brown bottle using the left arm.", + "Grab the smooth brown bottle with green label with the left arm and shake.", + "Pick up the dark brown bottle with a squared body and shake it well.", + "Use the left arm to hold the plastic bottle and shake it.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "With the left arm, pick the medium bottle with glossy surface and shake properly.", + "Lift up the medium bottle with glossy surface using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with green cap.", + "Grab the medium bottle with glossy surface carefully and shake.", + "Pick the brown bottle, shake it with the left arm.", + "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.", + "Lift the smooth brown bottle with green label and shake it gently.", + "Shake the the dark brown bottle with a squared body properly after lifting.", + "Using the left arm, shake the smooth brown bottle with green label and then place it back.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake properly.", + "Grab the brown bottle and move it to shake.", + "Hold the dark brown bottle with a squared body and shake it properly.", + "Hold and shake the the rectangular-shaped bottle with round cap carefully.", + "Shake the medium bottle with glossy surface thoroughly after grabbing it.", + "Hold the rectangular-shaped bottle with round cap with the left arm and shake lightly.", + "Shake the rectangular brown body with white top after grabbing it.", + "Use the left arm to grab the medium bottle with glossy surface and shake it.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Shake the medium bottle with glossy surface after holding it firmly.", + "Secure the brown bottle and perform a shake.", + "Hold the dark brown bottle with a squared body steady, then shake it.", + "Lift the medium bottle with glossy surface with the left arm and shake it.", + "Grab the smooth plastic bottle with white cap firmly, shake it, and put it down.", + "Grab the plastic bottle and shake it steadily.", + "Pick the dark brown bottle with a squared body and perform shaking motion.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Grasp the brown bottle with the left arm and shake it.", + "Hold the dark brown bottle with a squared body, shake it briefly.", + "Grab the rectangular-shaped bottle with round cap and give it a shake.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Shake the brown bottle with rounded rectangular shape after lifting it.", + "Use the left arm to pick and shake the dark brown bottle with a squared body.", + "Pick the brown bottle up with the left arm and shake.", + "Grip the brown bottle using the left arm and shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the medium bottle with glossy surface using the left arm after grabbing.", + "Utilize the left arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Lift the medium bottle with glossy surface and shake it thoroughly.", + "Grab the rectangular brown body with white top using the left arm, then shake.", + "Secure the medium bottle with glossy surface, shake it, and place it down.", + "Lift the bottle with flat sides and logo with the left arm and give it a shake.", + "Lift the bottle with green cap with the left arm and shake.", + "Pick up the rectangular brown body with white top and shake it.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Grab and shake the brown bottle using the left arm.", + "Grab the rectangular-shaped bottle with round cap with the left arm and shake.", + "Pick up the medium bottle with glossy surface and shake it well.", + "Use the left arm to hold the brown bottle and shake it.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "With the left arm, pick the bottle with flat sides and logo and shake properly.", + "Lift up the bottle with flat sides and logo using the left arm, then shake.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Grab the medium-sized brown plastic bottle carefully and shake.", + "Pick the smooth plastic bottle with white cap, shake it with the left arm.", + "Take the rectangular-shaped bottle with round cap using the left arm and give it a shake.", + "Lift the medium bottle with glossy surface and shake it gently.", + "Shake the the brown bottle with rounded rectangular shape properly after lifting.", + "Using the left arm, shake the bottle with green cap and then place it back.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake properly.", + "Grab the plastic bottle and move it to shake.", + "Hold the brown bottle and shake it properly.", + "Hold and shake the the rectangular brown body with white top carefully.", + "Shake the rectangular brown body with white top thoroughly after grabbing it.", + "Hold the brown bottle with rounded rectangular shape with the left arm and shake lightly.", + "Shake the brown bottle after grabbing it.", + "Use the left arm to grab the smooth brown bottle with green label and shake it.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Catch the smooth brown bottle with green label and shake it instantly.", + "Shake the smooth plastic bottle with white cap after holding it firmly.", + "Secure the smooth brown bottle with green label and perform a shake.", + "Hold the brown bottle with rounded rectangular shape steady, then shake it.", + "Lift the bottle with green cap with the left arm and shake it.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down." + ], + "unseen": [ + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode374.json b/shake_bottle/ur5_randomized_500/instructions/episode374.json new file mode 100644 index 0000000000000000000000000000000000000000..c12756836b36b76c5618b564b17c714d302a6e99 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode374.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the rounded bottle with printed details carefully.", + "Grab and shake the smooth brown bottle using the left arm.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Grasp the cylindrical bottle with narrow neck with the left arm and shake it.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Use the left arm to pick and shake the white-capped brown cylindrical bottle.", + "Lift the bottle with dark brown color with the left arm and shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Pick the handheld brown bottle with white lid up with the left arm and shake.", + "Take the medium plastic bottle using the left arm and give it a shake.", + "Secure the bottle with dark brown color and perform a shake.", + "Shake the medium plastic bottle after lifting it.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Secure the medium plastic bottle, shake it, and place it down.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Lift the plastic bottle for liquids with the left arm and give it a shake.", + "Grip the plastic bottle with printed label using the left arm and shake.", + "Hold the bottle with dark brown color, shake it briefly.", + "Pick up the bottle with dark brown color and shake it.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Grab the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the medium plastic bottle and shake properly.", + "Grab the medium bottle with smooth texture using the left arm, then shake.", + "Shake the medium plastic bottle after grabbing it.", + "Pick up the plastic bottle with printed label and shake it well.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Grab the smooth brown bottle and shake it steadily.", + "Pick the bottle with dark brown color and perform shaking motion.", + "Grab the rounded bottle with printed details and move it to shake.", + "Shake the medium plastic bottle using the left arm after grabbing.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Lift up the rounded bottle with printed details using the left arm, then shake.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Lift the white-capped brown cylindrical bottle and shake it gently.", + "Lift the smooth brown bottle with the left arm and shake.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Pick the medium bottle with smooth texture, shake it with the left arm.", + "With the left arm, pick the rounded bottle with printed details and shake properly.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake it.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Pick the rounded bottle with printed details up using the left arm and shake it.", + "Utilize the left arm to hold the bottle with dark brown color and shake it.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Use the left arm to hold the smooth brown bottle and shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Hold and shake the the smooth brown bottle carefully.", + "Grab and shake the bottle with dark brown color using the left arm.", + "Catch the medium bottle with smooth texture and shake it instantly.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Hold the bottle with dark brown color steady, then shake it.", + "Use the left arm to pick and shake the rounded bottle with printed details.", + "Lift the plastic bottle for liquids with the left arm and shake it.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Pick the white-capped brown cylindrical bottle up with the left arm and shake.", + "Take the bottle with dark brown color using the left arm and give it a shake.", + "Secure the plastic bottle for liquids and perform a shake.", + "Shake the bottle with white cap after lifting it.", + "Shake the plastic bottle with printed label after holding it firmly.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Lift the plastic bottle with printed label with the left arm and give it a shake.", + "Grip the smooth brown bottle using the left arm and shake.", + "Hold the medium plastic bottle, shake it briefly.", + "Pick up the rounded bottle with printed details and shake it.", + "Grab the handheld brown bottle with white lid and give it a shake.", + "Grab the cylindrical bottle with narrow neck with the left arm and shake.", + "Use the left arm to grab the handheld brown bottle with white lid and shake properly.", + "Grab the medium bottle with smooth texture using the left arm, then shake.", + "Shake the bottle with brown body and white top after grabbing it.", + "Pick up the plastic bottle for liquids and shake it well.", + "Grab the medium plastic bottle carefully and shake.", + "Grab the medium plastic bottle and shake it steadily.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Grab the bottle with brown body and white top and move it to shake.", + "Shake the bottle with brown body and white top using the left arm after grabbing.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Hold the bottle with white cap with the left arm and shake lightly.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Lift the smooth brown bottle and shake it gently.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake.", + "Hold the smooth brown bottle and shake it properly.", + "Pick the bottle with dark brown color, shake it with the left arm.", + "With the left arm, pick the bottle with brown body and white top and shake properly.", + "Use the left arm to grab the medium bottle with smooth texture and shake it.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Pick the plastic bottle for liquids up using the left arm and shake it.", + "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Shake the white-capped brown cylindrical bottle after grabbing it." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode375.json b/shake_bottle/ur5_randomized_500/instructions/episode375.json new file mode 100644 index 0000000000000000000000000000000000000000..75651b0be150e62d73c6853e83d5a349f6987f58 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode375.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Pick up the smooth green plastic bottle and shake it.", + "Pick the medium green bottle, shake it with the left arm.", + "Lift the bottle with narrow top and shake it gently.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Shake the smooth green bottle after grabbing it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Pick up the bottle with rounded neck and shake it well.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Pick the plastic bottle and perform shaking motion.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Hold and shake the the bottle with ridges near base carefully.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Grab the bottle with narrow top with the left arm and shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Shake the smooth green plastic bottle after lifting it.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Shake the green bottle with indented base after grabbing it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Shake the medium-sized green bottle after holding it firmly.", + "Shake the medium green bottle firmly after grabbing.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with white printed label and give it a shake.", + "Shake the the bottle with ridges near base properly after lifting.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Grip the plastic bottle using the left arm and shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Hold the bottle with narrow top, shake it briefly.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Hold the bottle with rounded neck steady, then shake it.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Secure the medium-sized green bottle and perform a shake.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Pick up the green bottle with indented base and shake it.", + "Pick the plastic bottle, shake it with the left arm.", + "Lift the medium green bottle and shake it gently.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "Pick up the smooth green plastic bottle and shake it well.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Hold and shake the the medium green bottle carefully.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the plastic bottle with the left arm and shake.", + "Grab the medium-sized green bottle carefully and shake.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Grab the bottle with ridges near base and move it to shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Catch the medium-sized green bottle and shake it instantly.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold the smooth green plastic bottle and shake it properly.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Shake the bottle with narrow top after lifting it.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Shake the green bottle with indented base after grabbing it.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Shake the plastic bottle after holding it firmly.", + "Shake the green bottle with indented base firmly after grabbing.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grab the medium-sized green bottle and give it a shake.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Use the left arm to pick and shake the bottle with white printed label.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Hold the bottle with white printed label, shake it briefly.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Secure the bottle with rounded neck and perform a shake." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode376.json b/shake_bottle/ur5_randomized_500/instructions/episode376.json new file mode 100644 index 0000000000000000000000000000000000000000..e7791d4503df7feed9a9406f88bd04c5be97dc89 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode376.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with a smooth plastic body, shake it with the left arm.", + "Grab the yellow container with rounded edges and give it a shake.", + "Pick up the yellow bottle and shake it well.", + "Grab and shake the yellow bottle using the left arm.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the smooth bottle with rounded edges firmly after grabbing.", + "Lift the bottle with green and white labels and shake it gently.", + "Utilize the left arm to hold the bottle with green label and shake it.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Grip the plastic bottle using the left arm and shake.", + "Hold the yellow plastic bottle with white top and shake it properly.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "With the left arm, pick the bottle with green label and shake properly.", + "Grab the medium rectangular yellow bottle using the left arm, then shake.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the bottle with green label.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Secure the yellow bottle with a green design and perform a shake.", + "Shake the yellow bottle with a green design after grabbing it.", + "Grab the bottle with green label and shake it steadily.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Grab the bottle with green label carefully and shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Lift the yellow plastic bottle with white top with the left arm and give it a shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Shake the the bottle with a smooth plastic body properly after lifting.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with a smooth plastic body and shake it.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Grab the plastic bottle with the left arm and shake.", + "Lift the bottle with a smooth plastic body with the left arm and shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Shake the bottle with green label after holding it firmly.", + "Use the left arm to hold the yellow bottle and shake it.", + "Shake the bottle with green label thoroughly after grabbing it.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Use the left arm to grab the bottle with green label and shake properly.", + "Hold the bottle with white cap steady, then shake it.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Lift the medium rectangular yellow bottle with the left arm and shake it.", + "Take the yellow plastic bottle with white top using the left arm and give it a shake.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Pick the yellow bottle, shake it with the left arm.", + "Grab the yellow container with rounded edges and give it a shake.", + "Pick up the bottle with a smooth plastic body and shake it well.", + "Grab and shake the bottle with green label using the left arm.", + "Shake the rectangular bottle with cylindrical neck using the left arm after grabbing.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Utilize the left arm to hold the bottle with white cap and shake it.", + "Pick the yellow plastic bottle with white top up using the left arm and shake it.", + "Grip the bottle with green label using the left arm and shake.", + "Hold the yellow bottle with a green design and shake it properly.", + "Pick the bottle with white cap and perform shaking motion.", + "With the left arm, pick the smooth bottle with rounded edges and shake properly.", + "Grab the yellow container with rounded edges using the left arm, then shake.", + "Hold the yellow plastic bottle with white top with the left arm and shake lightly.", + "Use the left arm to pick and shake the medium rectangular yellow bottle.", + "Lift the yellow bottle and shake it thoroughly.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Shake the bottle with green label after grabbing it.", + "Grab the yellow bottle and shake it steadily.", + "Grab the yellow container with rounded edges and move it to shake.", + "Grab the bottle with green label carefully and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grasp the smooth bottle with rounded edges with the left arm and shake it.", + "Shake the bottle with green and white labels after grabbing it.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Using the left arm, shake the smooth bottle with rounded edges and then place it back.", + "Lift up the yellow bottle with a green design using the left arm, then shake.", + "Shake the the bottle with white cap properly after lifting.", + "Pick up the smooth bottle with rounded edges and shake it.", + "Use the left arm to grab the bottle with green and white labels and shake it.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Grab the bottle with green label with the left arm and shake.", + "Lift the yellow bottle with the left arm and shake.", + "Pick the yellow bottle up with the left arm and shake.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Shake the smooth bottle with rounded edges after holding it firmly.", + "Use the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Secure the yellow plastic bottle with white top, shake it, and place it down.", + "Use the left arm to grab the yellow plastic bottle with white top and shake properly.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Shake the bottle with white cap after grabbing it.", + "Lift the yellow bottle with the left arm and shake it.", + "Take the medium rectangular yellow bottle using the left arm and give it a shake.", + "Shake the bottle with a smooth plastic body after lifting it." + ], + "unseen": [ + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode377.json b/shake_bottle/ur5_randomized_500/instructions/episode377.json new file mode 100644 index 0000000000000000000000000000000000000000..9c967b2b240169dc565243cc3fb10042edcd9905 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode377.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth plastic bottle with the left arm and shake.", + "Shake the the yellow bottle for liquid storage properly after lifting.", + "Shake the bottle with screw cap using the left arm after grabbing.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Hold the medium-sized bottle and shake it properly.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Hold and shake the the yellow bottle with dark label carefully.", + "Grab the yellow bottle with dark label firmly, shake it, and put it down.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Hold the yellow bottle with dark label, shake it briefly.", + "Lift the yellow bottle with dark label with the left arm and shake.", + "Shake the medium-sized bottle firmly after grabbing.", + "Shake the yellow bottle with dark label after grabbing it.", + "Use the left arm to hold the yellow bottle with blue label and shake it.", + "Grab the yellow bottle for liquid storage carefully and shake.", + "Shake the medium-sized bottle after grabbing it.", + "Lift the bottle with screw cap with the left arm and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Secure the medium-sized bottle and perform a shake.", + "Grab and shake the bottle with screw cap using the left arm.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Use the left arm to lift and shake the yellow bottle for liquid storage.", + "Grip the plastic bottle using the left arm and shake.", + "Pick up the yellow bottle with dark label and shake it.", + "Pick the handheld curvy bottle, shake it with the left arm.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "Shake the plastic bottle with curved sides after holding it firmly.", + "Use the left arm to lift and shake the yellow bottle.", + "Grab the yellow bottle and give it a shake.", + "Use the left arm to grab the yellow bottle with dark label and shake properly.", + "Pick the plastic bottle with curved sides up with the left arm and shake.", + "Grab the yellow bottle and shake it steadily.", + "Pick the medium-sized bottle and perform shaking motion.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Hold the bottle with screw cap steady, then shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Grasp the handheld curvy bottle with the left arm and shake it.", + "Grab the handheld curvy bottle using the left arm, then shake.", + "Secure the medium plastic bottle with cap, shake it, and place it down.", + "Shake the medium plastic bottle with cap after lifting it.", + "Hold the handheld curvy bottle with the left arm and shake lightly.", + "Use the left arm to grab the medium plastic bottle with cap and shake it.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Catch the plastic bottle with curved sides and shake it instantly.", + "Use the left arm to pick and shake the medium plastic bottle with cap.", + "Pick the yellow bottle up using the left arm and shake it.", + "Lift up the yellow bottle with blue label using the left arm, then shake.", + "Grab the bottle for liquid and move it to shake.", + "Lift the plastic bottle and shake it gently.", + "Grab the yellow bottle with the left arm and shake.", + "Shake the the yellow bottle with dark label properly after lifting.", + "Shake the yellow bottle with dark label using the left arm after grabbing.", + "Lift the yellow bottle for liquid storage with the left arm and give it a shake.", + "Hold the handheld curvy bottle and shake it properly.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Hold and shake the the smooth plastic bottle carefully.", + "Grab the yellow bottle with blue label firmly, shake it, and put it down.", + "Pick up the yellow bottle with blue label and shake it well.", + "Hold the yellow bottle, shake it briefly.", + "Lift the plastic bottle with the left arm and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the bottle for liquid after grabbing it.", + "Use the left arm to hold the bottle with screw cap and shake it.", + "Grab the yellow bottle with blue label carefully and shake.", + "Shake the bottle with screw cap after grabbing it.", + "Lift the plastic bottle with curved sides with the left arm and shake it.", + "Shake the yellow bottle with blue label thoroughly after grabbing it.", + "Secure the smooth plastic bottle and perform a shake.", + "Grab and shake the yellow bottle using the left arm.", + "With the left arm, pick the yellow bottle and shake properly.", + "Use the left arm to lift and shake the yellow bottle with dark label.", + "Grip the yellow bottle with blue label using the left arm and shake.", + "Pick up the yellow bottle with dark label and shake it.", + "Pick the medium plastic bottle with cap, shake it with the left arm.", + "Utilize the left arm to hold the bottle with screw cap and shake it.", + "Shake the bottle with screw cap after holding it firmly.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to grab the yellow bottle with blue label and shake properly.", + "Pick the yellow bottle with dark label up with the left arm and shake.", + "Grab the bottle with screw cap and shake it steadily.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Hold the yellow bottle with dark label steady, then shake it.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Grasp the yellow bottle with blue label with the left arm and shake it.", + "Grab the handheld curvy bottle using the left arm, then shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the plastic bottle with curved sides after lifting it.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Use the left arm to grab the plastic bottle with curved sides and shake it.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Shake the bottle with screw cap after grabbing it.", + "Catch the bottle for liquid and shake it instantly.", + "Use the left arm to pick and shake the yellow bottle.", + "Pick the plastic bottle with curved sides up using the left arm and shake it.", + "Lift up the yellow bottle using the left arm, then shake.", + "Grab the yellow bottle with blue label and move it to shake.", + "Lift the yellow bottle and shake it gently." + ], + "unseen": [ + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode378.json b/shake_bottle/ur5_randomized_500/instructions/episode378.json new file mode 100644 index 0000000000000000000000000000000000000000..d0208a227ff3d76f49760182dec8d65c1ce8a363 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode378.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the yellow text bottle with the right arm and shake lightly.", + "Take the red bottle with curved grooves using the right arm and give it a shake.", + "Pick up the plastic bottle with bright red color and shake it.", + "Pick the red bottle with curved grooves, shake it with the right arm.", + "Utilize the right arm to hold the red bottle with curved grooves and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Secure the red bottle with curved grooves and perform a shake.", + "Pick the handheld plastic bottle and perform shaking motion.", + "Use the right arm to lift and shake the bottle with red cap.", + "Shake the yellow text bottle after holding it firmly.", + "Shake the smooth red cylindrical bottle thoroughly after grabbing it.", + "Use the right arm to grab the yellow text bottle and shake it.", + "Grab and shake the red bottle with white bottom text using the right arm.", + "Shake the plastic bottle after grabbing it.", + "Lift the red bottle with the right arm and shake.", + "Grab the yellow text bottle and move it to shake.", + "Catch the handheld plastic bottle and shake it instantly.", + "Grab the red bottle with white bottom text with the right arm and shake.", + "Shake the red bottle after grabbing it.", + "Shake the plastic bottle with bright red color after lifting it.", + "Grab the bottle with red cap and shake it steadily.", + "Pick the plastic bottle with bright red color up with the right arm and shake.", + "Grasp the red bottle with curved grooves with the right arm and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Hold the plastic bottle with bright red color and shake it properly.", + "Use the right arm to lift and shake the red bottle with screw cap.", + "Grab the red bottle with white bottom text carefully and shake.", + "Hold and shake the the handheld plastic bottle carefully.", + "Lift the red bottle and shake it thoroughly.", + "Using the right arm, shake the red bottle and then place it back.", + "Grab the bottle with red cap using the right arm, then shake.", + "Shake the the handheld plastic bottle properly after lifting.", + "Shake the smooth red cylindrical bottle firmly after grabbing.", + "Shake the yellow text bottle after grabbing it.", + "Grab the medium-size plastic bottle firmly, shake it, and put it down.", + "Grab the red bottle with narrow neck and give it a shake.", + "Grip the medium-size plastic bottle using the right arm and shake.", + "Lift the red bottle with the right arm and shake it.", + "Lift up the smooth red cylindrical bottle using the right arm, then shake.", + "Lift the plastic bottle with bright red color and shake it gently.", + "Shake the red bottle using the right arm after grabbing.", + "Hold the handheld plastic bottle steady, then shake it.", + "Secure the plastic bottle with bright red color, shake it, and place it down.", + "Pick up the red bottle with screw cap and shake it well.", + "Use the right arm to hold the plastic bottle and shake it.", + "Use the right arm to pick and shake the red bottle with curved grooves.", + "Hold the bottle with red cap, shake it briefly.", + "Pick the red bottle with white bottom text up using the right arm and shake it.", + "Lift the red bottle with screw cap with the right arm and give it a shake.", + "Use the right arm to grab the smooth red cylindrical bottle and shake properly.", + "Hold the red bottle with curved grooves with the right arm and shake lightly.", + "Take the plastic bottle using the right arm and give it a shake.", + "Pick up the medium-size plastic bottle and shake it.", + "Pick the medium-size plastic bottle, shake it with the right arm.", + "Utilize the right arm to hold the red bottle with curved grooves and shake it.", + "Use the right arm to lift and shake the smooth red cylindrical bottle.", + "Secure the bottle with red cap and perform a shake.", + "Pick the red bottle with curved grooves and perform shaking motion.", + "Use the right arm to lift and shake the red bottle with white bottom text.", + "Shake the handheld plastic bottle after holding it firmly.", + "Shake the medium-size plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the handheld plastic bottle and shake it.", + "Grab and shake the plastic bottle with bright red color using the right arm.", + "Shake the plastic bottle after grabbing it.", + "Lift the handheld plastic bottle with the right arm and shake.", + "Grab the medium-size plastic bottle and move it to shake.", + "Catch the plastic bottle with bright red color and shake it instantly.", + "Grab the bottle with red cap with the right arm and shake.", + "Shake the medium-size plastic bottle after grabbing it.", + "Shake the red bottle after lifting it.", + "Grab the plastic bottle with bright red color and shake it steadily.", + "Pick the medium-size plastic bottle up with the right arm and shake.", + "Grasp the red bottle with the right arm and shake it.", + "With the right arm, pick the plastic bottle with bright red color and shake properly.", + "Hold the red bottle with white bottom text and shake it properly.", + "Use the right arm to lift and shake the handheld plastic bottle.", + "Grab the plastic bottle carefully and shake.", + "Hold and shake the the red bottle with white bottom text carefully.", + "Lift the red bottle and shake it thoroughly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Grab the medium-size plastic bottle using the right arm, then shake.", + "Shake the the handheld plastic bottle properly after lifting.", + "Shake the red bottle firmly after grabbing.", + "Shake the handheld plastic bottle after grabbing it.", + "Grab the red bottle with narrow neck firmly, shake it, and put it down.", + "Grab the bottle with red cap and give it a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Lift the medium-size plastic bottle with the right arm and shake it.", + "Lift up the red bottle with white bottom text using the right arm, then shake.", + "Lift the handheld plastic bottle and shake it gently.", + "Shake the yellow text bottle using the right arm after grabbing.", + "Hold the red bottle with narrow neck steady, then shake it.", + "Secure the red bottle with screw cap, shake it, and place it down.", + "Pick up the medium-size plastic bottle and shake it well.", + "Use the right arm to hold the red bottle with narrow neck and shake it.", + "Use the right arm to pick and shake the red bottle with narrow neck.", + "Hold the medium-size plastic bottle, shake it briefly.", + "Pick the red bottle with screw cap up using the right arm and shake it.", + "Lift the plastic bottle with bright red color with the right arm and give it a shake.", + "Use the right arm to grab the red bottle with narrow neck and shake properly." + ], + "unseen": [ + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick and shake the the shiny red bottle with the right arm.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the right arm to pick the shiny red bottle.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick and shake the the shiny red bottle with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the right arm to pick the shiny red bottle.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with white and yellow label and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the right arm to pick the shiny red bottle.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick and shake the the shiny red bottle with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the right arm to pick the shiny red bottle.", + "Pick up the shiny red bottle with the right arm and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Grab the shiny red bottle and give it a shake.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Use the right arm to pick the shiny red bottle.", + "Pick up the shiny red bottle with the right arm and shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode379.json b/shake_bottle/ur5_randomized_500/instructions/episode379.json new file mode 100644 index 0000000000000000000000000000000000000000..3042c9de7e46503f9b041dc6ce4cdd522d1231c7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode379.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Pick the medium plastic bottle up using the right arm and shake it.", + "Lift the medium plastic bottle with the right arm and shake it.", + "Hold the bottle with dark brown color steady, then shake it.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Pick the medium bottle with smooth texture up with the right arm and shake.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Hold and shake the the rounded bottle with printed details carefully.", + "Pick the bottle with dark brown color and perform shaking motion.", + "Pick the medium bottle with smooth texture, shake it with the right arm.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Grab the plastic bottle for liquids and give it a shake.", + "Shake the bottle with brown body and white top after grabbing it.", + "Shake the white-capped brown cylindrical bottle using the right arm after grabbing.", + "Secure the handheld brown bottle with white lid and perform a shake.", + "With the right arm, pick the plastic bottle with printed label and shake properly.", + "Pick up the plastic bottle for liquids and shake it well.", + "Shake the white-capped brown cylindrical bottle firmly after grabbing.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake.", + "Hold the white-capped brown cylindrical bottle with the right arm and shake lightly.", + "Grab and shake the bottle with brown body and white top using the right arm.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Use the right arm to pick and shake the bottle with white cap.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Hold the smooth brown bottle, shake it briefly.", + "Use the right arm to grab the smooth brown bottle and shake it.", + "Lift up the smooth brown bottle using the right arm, then shake.", + "Shake the bottle with white cap after grabbing it.", + "Secure the rounded bottle with printed details, shake it, and place it down.", + "Lift the handheld brown bottle with white lid with the right arm and give it a shake.", + "Grab the bottle with dark brown color carefully and shake.", + "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.", + "Utilize the right arm to hold the bottle with dark brown color and shake it.", + "Grab the medium bottle with smooth texture using the right arm, then shake.", + "Grab the bottle with brown body and white top and move it to shake.", + "Pick up the plastic bottle for liquids and shake it.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Shake the medium bottle with smooth texture after lifting it.", + "Grab the medium plastic bottle with the right arm and shake.", + "Grip the medium bottle with smooth texture using the right arm and shake.", + "Take the plastic bottle with printed label using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with dark brown color.", + "Lift the white-capped brown cylindrical bottle and shake it gently.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Use the right arm to hold the plastic bottle for liquids and shake it.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Pick the smooth brown bottle up using the right arm and shake it.", + "Lift the handheld brown bottle with white lid with the right arm and shake it.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Pick the smooth brown bottle up with the right arm and shake.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Hold and shake the the bottle with dark brown color carefully.", + "Pick the bottle with brown body and white top and perform shaking motion.", + "Pick the medium plastic bottle, shake it with the right arm.", + "Shake the medium plastic bottle after grabbing it.", + "Grab the plastic bottle for liquids and give it a shake.", + "Shake the smooth brown bottle after grabbing it.", + "Shake the plastic bottle for liquids using the right arm after grabbing.", + "Secure the white-capped brown cylindrical bottle and perform a shake.", + "With the right arm, pick the rounded bottle with printed details and shake properly.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake.", + "Hold the bottle with white cap with the right arm and shake lightly.", + "Grab and shake the white-capped brown cylindrical bottle using the right arm.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Use the right arm to pick and shake the handheld brown bottle with white lid.", + "Using the right arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Use the right arm to grab the rounded bottle with printed details and shake it.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Shake the medium plastic bottle after grabbing it.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Lift the medium plastic bottle with the right arm and give it a shake.", + "Grab the plastic bottle for liquids carefully and shake.", + "Use the right arm to grab the plastic bottle for liquids and shake properly.", + "Utilize the right arm to hold the medium bottle with smooth texture and shake it.", + "Grab the medium plastic bottle using the right arm, then shake.", + "Grab the rounded bottle with printed details and move it to shake.", + "Pick up the bottle with brown body and white top and shake it.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Shake the bottle with white cap after lifting it.", + "Grab the handheld brown bottle with white lid with the right arm and shake.", + "Grip the handheld brown bottle with white lid using the right arm and shake.", + "Take the medium plastic bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Use the right arm to hold the bottle with brown body and white top and shake it.", + "Hold the bottle with brown body and white top and shake it properly.", + "Grab the smooth brown bottle firmly, shake it, and put it down.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Shake the bottle with dark brown color after holding it firmly." + ], + "unseen": [ + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode38.json b/shake_bottle/ur5_randomized_500/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe3bfd6b1c318af10e569789b307f4347ef1e57 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the medium-sized bottle and perform a shake.", + "Shake the handheld white bottle with cap firmly after grabbing.", + "Grab the handheld white bottle with cap carefully and shake.", + "Lift up the handheld white bottle with cap using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with tapering neck.", + "Use the left arm to pick and shake the white bottle.", + "Pick the bottle with tapering neck up with the left arm and shake.", + "Lift the white cylindrical bottle and shake it gently.", + "Grab the bottle with tapering neck firmly, shake it, and put it down.", + "Hold and shake the the handheld white bottle with cap carefully.", + "Shake the handheld white bottle with cap thoroughly after grabbing it.", + "Pick the white bottle and perform shaking motion.", + "Grab the smooth bottle and move it to shake.", + "Pick up the cylindrical bottle with red writing and shake it well.", + "Use the left arm to grab the handheld white bottle with cap and shake properly.", + "Hold the white bottle with red text with the left arm and shake lightly.", + "Use the left arm to lift and shake the white bottle.", + "With the left arm, pick the bottle with tapering neck and shake properly.", + "Grab the white bottle with red text and give it a shake.", + "Shake the the medium-sized bottle properly after lifting.", + "Lift the bottle with orange screw cap with the left arm and shake it.", + "Use the left arm to lift and shake the cylindrical bottle with red writing.", + "Using the left arm, shake the smooth bottle and then place it back.", + "Shake the white bottle with red text after grabbing it.", + "Utilize the left arm to hold the bottle with tapering neck and shake it.", + "Use the left arm to hold the white bottle with orange lid and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Pick the white bottle with red text, shake it with the left arm.", + "Hold the white cylindrical bottle steady, then shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift the smooth bottle and shake it thoroughly.", + "Grasp the white bottle with orange lid with the left arm and shake it.", + "Shake the cylindrical bottle with red writing using the left arm after grabbing.", + "Shake the white bottle with orange lid after grabbing it.", + "Grip the white bottle using the left arm and shake.", + "Grab and shake the smooth bottle using the left arm.", + "Shake the cylindrical bottle with red writing after lifting it.", + "Shake the bottle with tapering neck after holding it firmly.", + "Grab the cylindrical bottle with red writing and shake it steadily.", + "Grab the plastic bottle with the left arm and shake.", + "Take the cylindrical bottle with red writing using the left arm and give it a shake.", + "Catch the plastic bottle and shake it instantly.", + "Lift the white bottle with orange lid with the left arm and shake.", + "Shake the bottle with orange screw cap after grabbing it.", + "Hold the plastic bottle and shake it properly.", + "Pick up the plastic bottle and shake it.", + "Use the left arm to grab the handheld white bottle with cap and shake it.", + "Secure the white bottle with orange lid, shake it, and place it down.", + "Pick the white bottle up using the left arm and shake it.", + "Lift the bottle with tapering neck with the left arm and give it a shake.", + "Secure the cylindrical bottle with red writing and perform a shake.", + "Shake the medium-sized bottle firmly after grabbing.", + "Grab the white bottle with red text carefully and shake.", + "Lift up the white bottle for liquids using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to pick and shake the plastic bottle.", + "Pick the smooth bottle up with the left arm and shake.", + "Lift the bottle with tapering neck and shake it gently.", + "Grab the white bottle with red text firmly, shake it, and put it down.", + "Hold and shake the the medium-sized bottle carefully.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Pick the medium-sized bottle and perform shaking motion.", + "Grab the white bottle with red text and move it to shake.", + "Pick up the smooth bottle and shake it well.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Hold the handheld white bottle with cap with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "With the left arm, pick the smooth bottle and shake properly.", + "Grab the plastic bottle and give it a shake.", + "Shake the the handheld white bottle with cap properly after lifting.", + "Lift the handheld white bottle with cap with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "Using the left arm, shake the white bottle with orange lid and then place it back.", + "Shake the bottle with orange screw cap after grabbing it.", + "Utilize the left arm to hold the bottle with tapering neck and shake it.", + "Use the left arm to hold the smooth bottle and shake it.", + "Hold the bottle with tapering neck, shake it briefly.", + "Pick the white bottle with red text, shake it with the left arm.", + "Hold the medium-sized bottle steady, then shake it.", + "Grab the white bottle with red text using the left arm, then shake.", + "Lift the white bottle and shake it thoroughly.", + "Grasp the cylindrical bottle with red writing with the left arm and shake it.", + "Shake the cylindrical bottle with red writing using the left arm after grabbing.", + "Shake the white bottle with orange lid after grabbing it.", + "Grip the handheld white bottle with cap using the left arm and shake.", + "Grab and shake the plastic bottle using the left arm.", + "Shake the white bottle for liquids after lifting it.", + "Shake the plastic bottle after holding it firmly.", + "Grab the white bottle with orange lid and shake it steadily.", + "Grab the plastic bottle with the left arm and shake.", + "Take the smooth bottle using the left arm and give it a shake.", + "Catch the handheld white bottle with cap and shake it instantly.", + "Lift the medium-sized bottle with the left arm and shake.", + "Shake the white cylindrical bottle after grabbing it.", + "Hold the white cylindrical bottle and shake it properly.", + "Pick up the handheld white bottle with cap and shake it.", + "Use the left arm to grab the white bottle with orange lid and shake it.", + "Secure the white bottle, shake it, and place it down.", + "Pick the white bottle with red text up using the left arm and shake it.", + "Lift the handheld white bottle with cap with the left arm and give it a shake." + ], + "unseen": [ + "Use the left arm to pick the bottle with glossy surface.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with orange cap and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with glossy surface and shake it.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with glossy surface and shake it.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with orange cap and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode380.json b/shake_bottle/ur5_randomized_500/instructions/episode380.json new file mode 100644 index 0000000000000000000000000000000000000000..bd82486a32e45a14005c8f0d5ce876dd22821f86 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode380.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the yellow bottle with cylindrical cap and shake it.", + "Pick the yellow bottle with cylindrical cap, shake it with the left arm.", + "Shake the handheld bottle after holding it firmly.", + "Lift the yellow bottle with the left arm and give it a shake.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Catch the yellow bottle and shake it instantly.", + "Use the left arm to lift and shake the rectangular bottle.", + "Grip the rectangular bottle using the left arm and shake.", + "Shake the bottle with green and white label firmly after grabbing.", + "Use the left arm to pick and shake the bottle with green and white label.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Shake the yellow bottle with flower design after grabbing it.", + "Grab the smooth yellow plastic bottle and give it a shake.", + "Shake the yellow bottle with flower design thoroughly after grabbing it.", + "Grab the smooth yellow plastic bottle carefully and shake.", + "Lift up the yellow bottle with cylindrical cap using the left arm, then shake.", + "Grab the yellow bottle with green label using the left arm, then shake.", + "Pick up the rectangular bottle and shake it well.", + "Pick up the rectangular bottle and shake it.", + "Use the left arm to hold the handheld bottle and shake it.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Grasp the plastic bottle with the left arm and shake it.", + "Hold the yellow bottle with green label and shake it properly.", + "Shake the the yellow bottle with green label properly after lifting.", + "Secure the plastic bottle and perform a shake.", + "Pick the yellow bottle with flower design up with the left arm and shake.", + "Shake the yellow body bottle after grabbing it.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with green and white label.", + "Lift the smooth yellow plastic bottle and shake it thoroughly.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grab the rectangular bottle with the left arm and shake.", + "Hold and shake the the smooth yellow plastic bottle carefully.", + "Lift the yellow bottle with cylindrical cap with the left arm and shake.", + "Hold the yellow body bottle, shake it briefly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Using the left arm, shake the rectangular bottle and then place it back.", + "Grab and shake the bottle for liquids using the left arm.", + "Lift the bottle with green and white label and shake it gently.", + "Shake the handheld bottle after grabbing it.", + "Grab the yellow body bottle and move it to shake.", + "Secure the bottle with green and white label, shake it, and place it down.", + "Pick the bottle with white cap and perform shaking motion.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle for liquids.", + "Shake the yellow bottle after lifting it.", + "Lift the yellow body bottle with the left arm and shake it.", + "Shake the smooth yellow plastic bottle using the left arm after grabbing.", + "Hold the yellow bottle with flower design steady, then shake it.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Pick the bottle for liquids, shake it with the left arm.", + "Shake the yellow bottle with green label after holding it firmly.", + "Lift the smooth yellow plastic bottle with the left arm and give it a shake.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Catch the bottle for liquids and shake it instantly.", + "Use the left arm to lift and shake the yellow bottle.", + "Grip the yellow bottle with flower design using the left arm and shake.", + "Shake the bottle with white cap firmly after grabbing.", + "Use the left arm to pick and shake the rectangular bottle.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Grab the handheld bottle and give it a shake.", + "Shake the yellow body bottle thoroughly after grabbing it.", + "Grab the plastic bottle carefully and shake.", + "Lift up the smooth yellow plastic bottle using the left arm, then shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Pick up the rectangular bottle and shake it well.", + "Pick up the yellow bottle with cylindrical cap and shake it.", + "Use the left arm to hold the yellow body bottle and shake it.", + "Pick the smooth yellow plastic bottle up using the left arm and shake it.", + "Grasp the yellow bottle with flower design with the left arm and shake it.", + "Hold the rectangular bottle and shake it properly.", + "Shake the the handheld bottle properly after lifting.", + "Secure the yellow bottle and perform a shake.", + "Pick the handheld bottle up with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the handheld bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with white cap.", + "Lift the handheld bottle and shake it thoroughly.", + "Take the yellow bottle with flower design using the left arm and give it a shake.", + "Grab the yellow bottle with cylindrical cap with the left arm and shake.", + "Hold and shake the the yellow body bottle carefully.", + "Lift the yellow bottle with flower design with the left arm and shake.", + "Hold the yellow bottle with green label, shake it briefly.", + "With the left arm, pick the bottle with green and white label and shake properly.", + "Use the left arm to grab the yellow bottle and shake it.", + "Using the left arm, shake the rectangular bottle and then place it back.", + "Grab and shake the yellow bottle using the left arm.", + "Lift the smooth yellow plastic bottle and shake it gently.", + "Shake the handheld bottle after grabbing it.", + "Grab the handheld bottle and move it to shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick the yellow bottle and perform shaking motion.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with green and white label.", + "Shake the handheld bottle after lifting it.", + "Lift the handheld bottle with the left arm and shake it.", + "Shake the yellow bottle with flower design using the left arm after grabbing.", + "Hold the plastic bottle steady, then shake it." + ], + "unseen": [ + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to pick the bottle with rounded edges.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to pick the bottle with printed label.", + "Grab the bottle with printed label and give it a shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with printed label and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the medium bottle.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle with the left arm and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to pick the bottle with rounded edges.", + "Grab the bottle with printed label and give it a shake.", + "Use the left arm to grab the medium bottle and shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with printed label with the left arm and shake.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the medium bottle.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle with the left arm and shake.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to pick the bottle with rounded edges.", + "Grab the bottle with printed label and give it a shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to pick the medium bottle.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the medium bottle and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Shake the bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the medium bottle.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the medium bottle with the left arm and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Shake the medium bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with printed label.", + "Grab the bottle with printed label and give it a shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Use the left arm to pick the medium bottle.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to grab the medium bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode381.json b/shake_bottle/ur5_randomized_500/instructions/episode381.json new file mode 100644 index 0000000000000000000000000000000000000000..c0bd398f13267d06f83dec8e1c41bda54b93f96d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode381.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the smooth orange bottle carefully.", + "Use the right arm to hold the round-bottom bottle with white cap and shake it.", + "With the right arm, pick the orange drink bottle with label and shake properly.", + "Secure the curved orange soda bottle and perform a shake.", + "Shake the the plastic bottle properly after lifting.", + "Lift up the smooth orange bottle using the right arm, then shake.", + "Shake the bottle for holding drinks after grabbing it.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Grab the smooth orange bottle with the right arm and shake.", + "Use the right arm to pick and shake the round-bottom bottle with white cap.", + "Shake the orange drink bottle with label after grabbing it.", + "Lift the orange bottle and shake it thoroughly.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Use the right arm to grab the smooth orange bottle and shake properly.", + "Shake the cylindrical orange plastic bottle after lifting it.", + "Hold the smooth orange bottle and shake it properly.", + "Take the grooved orange drink bottle using the right arm and give it a shake.", + "Grab the medium bottle with colorful label and move it to shake.", + "Shake the grooved orange drink bottle firmly after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the cylindrical orange plastic bottle after holding it firmly.", + "Use the right arm to lift and shake the light and medium-sized bottle.", + "Pick the medium bottle with colorful label, shake it with the right arm.", + "Pick the cylindrical orange plastic bottle and perform shaking motion.", + "Grab the light and medium-sized bottle carefully and shake.", + "Grab the ridged orange bottle with grooves using the right arm, then shake.", + "Hold the grooved orange drink bottle with the right arm and shake lightly.", + "Hold the orange drink bottle with label steady, then shake it.", + "Pick the orange bottle up with the right arm and shake.", + "Pick up the curved orange soda bottle and shake it.", + "Grab the curved orange soda bottle and shake it steadily.", + "Lift the grooved orange drink bottle with the right arm and give it a shake.", + "Use the right arm to grab the plastic bottle and shake it.", + "Using the right arm, shake the curved orange soda bottle and then place it back.", + "Lift the bottle for holding drinks with the right arm and shake it.", + "Catch the bottle for holding drinks and shake it instantly.", + "Pick the grooved orange drink bottle up using the right arm and shake it.", + "Utilize the right arm to hold the smooth orange bottle and shake it.", + "Pick up the light and medium-sized bottle and shake it well.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Grasp the curved orange soda bottle with the right arm and shake it.", + "Lift the round-bottom bottle with white cap with the right arm and shake.", + "Grab and shake the curved orange soda bottle using the right arm.", + "Lift the smooth orange bottle and shake it gently.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Shake the ridged orange bottle with grooves thoroughly after grabbing it.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Grip the orange bottle using the right arm and shake.", + "Hold and shake the the plastic bottle carefully.", + "Use the right arm to hold the orange drink bottle with label and shake it.", + "With the right arm, pick the bottle for holding drinks and shake properly.", + "Secure the curved orange soda bottle and perform a shake.", + "Shake the the bottle for holding drinks properly after lifting.", + "Lift up the curved orange soda bottle using the right arm, then shake.", + "Shake the light and medium-sized bottle after grabbing it.", + "Grab the round-bottom bottle with white cap and give it a shake.", + "Grab the smooth orange bottle with the right arm and shake.", + "Use the right arm to pick and shake the grooved orange drink bottle.", + "Shake the curved orange soda bottle after grabbing it.", + "Lift the medium bottle with colorful label and shake it thoroughly.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to grab the round-bottom bottle with white cap and shake properly.", + "Shake the plastic bottle after lifting it.", + "Hold the ridged orange bottle with grooves and shake it properly.", + "Take the orange drink bottle with label using the right arm and give it a shake.", + "Grab the curved orange soda bottle and move it to shake.", + "Shake the grooved orange drink bottle firmly after grabbing.", + "Shake the grooved orange drink bottle after grabbing it.", + "Shake the cylindrical orange plastic bottle using the right arm after grabbing.", + "Shake the medium bottle with colorful label after holding it firmly.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Pick the round-bottom bottle with white cap, shake it with the right arm.", + "Pick the medium bottle with colorful label and perform shaking motion.", + "Grab the orange drink bottle with label carefully and shake.", + "Grab the light and medium-sized bottle using the right arm, then shake.", + "Hold the smooth orange bottle with the right arm and shake lightly.", + "Hold the curved orange soda bottle steady, then shake it.", + "Pick the round-bottom bottle with white cap up with the right arm and shake.", + "Pick up the smooth orange bottle and shake it.", + "Grab the round-bottom bottle with white cap and shake it steadily.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Use the right arm to grab the cylindrical orange plastic bottle and shake it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Lift the curved orange soda bottle with the right arm and shake it.", + "Catch the medium bottle with colorful label and shake it instantly.", + "Pick the round-bottom bottle with white cap up using the right arm and shake it.", + "Utilize the right arm to hold the orange drink bottle with label and shake it.", + "Pick up the round-bottom bottle with white cap and shake it well.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Secure the orange bottle, shake it, and place it down.", + "Grasp the grooved orange drink bottle with the right arm and shake it.", + "Lift the curved orange soda bottle with the right arm and shake.", + "Grab and shake the round-bottom bottle with white cap using the right arm.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "Grab the grooved orange drink bottle firmly, shake it, and put it down.", + "Shake the grooved orange drink bottle thoroughly after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Grip the cylindrical orange plastic bottle using the right arm and shake." + ], + "unseen": [ + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to grab the bottle with white cap and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode382.json b/shake_bottle/ur5_randomized_500/instructions/episode382.json new file mode 100644 index 0000000000000000000000000000000000000000..3a03fe3af8238c2b624031ed5d6518f1f274ce1e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode382.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth plastic bottle and shake it thoroughly.", + "Grab the bottle for liquids and shake it steadily.", + "Shake the medium-sized bottle after holding it firmly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Pick up the medium bottle for beverages and shake it.", + "Grasp the blue bottle with the right arm and shake it.", + "Using the right arm, shake the bottle with blue cap and then place it back.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Grab the handheld bottle with the right arm and shake.", + "Use the right arm to pick and shake the white and blue bottle.", + "Shake the medium bottle for beverages after grabbing it.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Lift the bottle for liquids with the right arm and shake it.", + "Shake the handheld bottle after grabbing it.", + "Grip the handheld bottle using the right arm and shake.", + "Utilize the right arm to hold the white bottle with blue accents and shake it.", + "Lift the blue bottle with the right arm and shake.", + "Grab the bottle with blue cap and move it to shake.", + "Pick the blue bottle, shake it with the right arm.", + "Shake the cylindrical bottle after lifting it.", + "Pick the handheld bottle and perform shaking motion.", + "Shake the the white and blue bottle properly after lifting.", + "With the right arm, pick the medium bottle for beverages and shake properly.", + "Shake the medium-sized bottle firmly after grabbing.", + "Lift up the medium-sized bottle using the right arm, then shake.", + "Grab and shake the medium-sized bottle using the right arm.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Grab the cylindrical bottle carefully and shake.", + "Use the right arm to grab the blue bottle and shake properly.", + "Pick the medium bottle for beverages up using the right arm and shake it.", + "Hold the medium-sized bottle, shake it briefly.", + "Grab the plastic bottle using the right arm, then shake.", + "Hold and shake the the medium bottle for beverages carefully.", + "Lift the smooth plastic bottle with the right arm and give it a shake.", + "Use the right arm to hold the bottle for liquids and shake it.", + "Lift the plastic bottle and shake it gently.", + "Use the right arm to grab the white and blue bottle and shake it.", + "Hold the handheld bottle steady, then shake it.", + "Take the blue bottle with label using the right arm and give it a shake.", + "Pick up the white bottle with blue accents and shake it well.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the bottle for liquids after grabbing it.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Use the right arm to lift and shake the handheld bottle.", + "Secure the plastic bottle and perform a shake.", + "Hold the white and blue bottle and shake it properly.", + "Secure the blue bottle with label, shake it, and place it down.", + "Grab the handheld bottle and give it a shake.", + "Catch the plastic bottle and shake it instantly.", + "Shake the medium bottle for beverages using the right arm after grabbing.", + "Lift the bottle for liquids and shake it thoroughly.", + "Grab the white and blue bottle and shake it steadily.", + "Shake the cylindrical bottle after holding it firmly.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Pick up the plastic bottle and shake it.", + "Grasp the bottle for liquids with the right arm and shake it.", + "Using the right arm, shake the blue bottle and then place it back.", + "Use the right arm to lift and shake the white bottle with blue accents.", + "Grab the blue bottle with label with the right arm and shake.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Shake the medium bottle for beverages after grabbing it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Lift the bottle with blue cap with the right arm and shake it.", + "Shake the medium bottle for beverages after grabbing it.", + "Grip the bottle with blue cap using the right arm and shake.", + "Utilize the right arm to hold the bottle with blue cap and shake it.", + "Lift the blue bottle with the right arm and shake.", + "Grab the handheld bottle and move it to shake.", + "Pick the handheld bottle, shake it with the right arm.", + "Shake the blue bottle after lifting it.", + "Pick the bottle with blue cap and perform shaking motion.", + "Shake the the bottle with blue cap properly after lifting.", + "With the right arm, pick the white bottle with blue accents and shake properly.", + "Shake the plastic bottle firmly after grabbing.", + "Lift up the medium-sized bottle using the right arm, then shake.", + "Grab and shake the cylindrical bottle using the right arm.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Grab the white bottle with blue accents carefully and shake.", + "Use the right arm to grab the medium bottle for beverages and shake properly.", + "Pick the medium-sized bottle up using the right arm and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Grab the bottle for liquids using the right arm, then shake.", + "Hold and shake the the blue bottle with label carefully.", + "Lift the medium bottle for beverages with the right arm and give it a shake.", + "Use the right arm to hold the white and blue bottle and shake it.", + "Lift the bottle with blue cap and shake it gently.", + "Use the right arm to grab the cylindrical bottle and shake it.", + "Hold the medium bottle for beverages steady, then shake it.", + "Take the bottle for liquids using the right arm and give it a shake.", + "Pick up the cylindrical bottle and shake it well.", + "Hold the cylindrical bottle with the right arm and shake lightly.", + "Shake the white and blue bottle after grabbing it.", + "Pick the bottle with blue cap up with the right arm and shake.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Secure the medium bottle for beverages and perform a shake.", + "Hold the medium-sized bottle and shake it properly.", + "Secure the blue bottle, shake it, and place it down.", + "Grab the blue bottle with label and give it a shake.", + "Catch the white and blue bottle and shake it instantly.", + "Shake the handheld bottle using the right arm after grabbing." + ], + "unseen": [ + "Pick and shake the the bottle with curved neck design with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode383.json b/shake_bottle/ur5_randomized_500/instructions/episode383.json new file mode 100644 index 0000000000000000000000000000000000000000..06c28100b19a981f52a1c0458f45f5acec44bf7d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode383.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, pick the green bottle with indented base and shake properly.", + "Lift the smooth green bottle and shake it thoroughly.", + "Pick up the plastic bottle and shake it well.", + "Secure the green bottle with indented base and perform a shake.", + "Shake the medium green bottle after lifting it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Pick up the plastic bottle and shake it.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Grab the smooth green plastic bottle carefully and shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold the green bottle with indented base, shake it briefly.", + "Hold and shake the the green bottle with indented base carefully.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Shake the bottle with narrow top firmly after grabbing.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Catch the handheld green bottle and shake it instantly.", + "Hold the handheld green bottle and shake it properly.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Grab the bottle with rounded neck and give it a shake.", + "Secure the handheld green bottle, shake it, and place it down.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Shake the medium green bottle after grabbing it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Lift the bottle with ridges near base and shake it gently.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Grab and shake the handheld green bottle using the left arm.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Grip the medium green bottle using the left arm and shake.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Lift the handheld green bottle with the left arm and shake it.", + "Hold the bottle with narrow top steady, then shake it.", + "Shake the smooth green bottle after holding it firmly.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Shake the the plastic bottle properly after lifting.", + "Lift up the smooth green bottle using the left arm, then shake.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Lift the medium green bottle and shake it thoroughly.", + "Pick up the medium green bottle and shake it well.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Grab the handheld green bottle and shake it steadily.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Pick up the handheld green bottle and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Grab the medium-sized green bottle carefully and shake.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Hold the handheld green bottle, shake it briefly.", + "Hold and shake the the medium-sized green bottle carefully.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Shake the plastic bottle firmly after grabbing.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Catch the medium-sized green bottle and shake it instantly.", + "Hold the medium green bottle and shake it properly.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Grab the handheld green bottle and give it a shake.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "Lift the bottle with rounded neck and shake it gently.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Grab and shake the smooth green bottle using the left arm.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grip the smooth green bottle using the left arm and shake.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Grab the medium green bottle and move it to shake.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Hold the handheld green bottle steady, then shake it.", + "Shake the bottle with narrow top after holding it firmly.", + "Lift the bottle with narrow top with the left arm and shake.", + "Shake the the medium-sized green bottle properly after lifting.", + "Lift up the smooth green bottle using the left arm, then shake." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode384.json b/shake_bottle/ur5_randomized_500/instructions/episode384.json new file mode 100644 index 0000000000000000000000000000000000000000..53b5fbb6382c03a97d770bef931b0e9e78aa5806 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode384.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow-capped cylindrical bottle carefully and shake.", + "Lift the yellow capped drink bottle with the left arm and shake.", + "Use the left arm to grab the beverage bottle with black body and shake it.", + "Pick the beverage bottle with black body up using the left arm and shake it.", + "Hold the beverage bottle with black body steady, then shake it.", + "Catch the medium black bottle with printed label and shake it instantly.", + "Shake the the black cylindrical bottle with ridges properly after lifting.", + "With the left arm, pick the yellow capped drink bottle and shake properly.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Use the left arm to pick and shake the smooth black bottle with ridges.", + "Pick up the smooth black bottle with ridges and shake it.", + "Lift up the black cylindrical bottle with ridges using the left arm, then shake.", + "Grab the yellow capped drink bottle with the left arm and shake.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Grab the medium black bottle with printed label and give it a shake.", + "Pick the black bottle up with the left arm and shake.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Take the black bottle using the left arm and give it a shake.", + "Pick up the medium black bottle with printed label and shake it well.", + "Utilize the left arm to hold the medium black bottle with printed label and shake it.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Lift the drink bottle with rounded yellow lid and shake it thoroughly.", + "Grab the drink bottle with rounded yellow lid firmly, shake it, and put it down.", + "Lift the black plastic bottle with Pepsi logo with the left arm and shake it.", + "Pick the bottle with blue and yellow print, shake it with the left arm.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Grip the yellow capped drink bottle using the left arm and shake.", + "Shake the medium bottle with yellow cap firmly after grabbing.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Hold the yellow-capped cylindrical bottle and shake it properly.", + "Shake the medium black bottle with printed label after lifting it.", + "Lift the medium bottle with yellow cap and shake it gently.", + "Lift the black bottle with the left arm and give it a shake.", + "Secure the black cylindrical bottle with ridges and perform a shake.", + "Shake the yellow capped drink bottle thoroughly after grabbing it.", + "Grab and shake the medium bottle with yellow cap using the left arm.", + "Using the left arm, shake the smooth black bottle with ridges and then place it back.", + "Grab the yellow capped drink bottle using the left arm, then shake.", + "Hold the black cylindrical bottle with ridges with the left arm and shake lightly.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "Grab the yellow-capped cylindrical bottle and move it to shake.", + "Grab the yellow-capped cylindrical bottle and shake it steadily.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Shake the medium black bottle with printed label after holding it firmly.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Shake the smooth black bottle with ridges using the left arm after grabbing.", + "Use the left arm to lift and shake the black cylindrical bottle with ridges.", + "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.", + "Use the left arm to grab the black cylindrical bottle with ridges and shake properly.", + "Grab the medium bottle with yellow cap carefully and shake.", + "Lift the black cylindrical bottle with ridges with the left arm and shake.", + "Use the left arm to grab the bottle with blue and yellow print and shake it.", + "Pick the black plastic bottle with Pepsi logo up using the left arm and shake it.", + "Hold the medium black bottle with printed label steady, then shake it.", + "Catch the medium bottle with yellow cap and shake it instantly.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "With the left arm, pick the yellow capped drink bottle and shake properly.", + "Hold the beverage bottle with black body, shake it briefly.", + "Use the left arm to pick and shake the drink bottle with rounded yellow lid.", + "Pick up the yellow-capped cylindrical bottle and shake it.", + "Lift up the black bottle using the left arm, then shake.", + "Grab the bottle with blue and yellow print with the left arm and shake.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Grab the bottle with blue and yellow print and give it a shake.", + "Pick the black plastic bottle with Pepsi logo up with the left arm and shake.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Take the black bottle using the left arm and give it a shake.", + "Pick up the black cylindrical bottle with ridges and shake it well.", + "Utilize the left arm to hold the bottle with blue and yellow print and shake it.", + "Pick the plastic bottle with colorful label and perform shaking motion.", + "Lift the black cylindrical bottle with ridges and shake it thoroughly.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Lift the yellow-capped cylindrical bottle with the left arm and shake it.", + "Pick the black plastic bottle with Pepsi logo, shake it with the left arm.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Grip the yellow-capped cylindrical bottle using the left arm and shake.", + "Shake the black cylindrical bottle with ridges firmly after grabbing.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Hold the black cylindrical bottle with ridges and shake it properly.", + "Shake the beverage bottle with black body after lifting it.", + "Lift the beverage bottle with black body and shake it gently.", + "Lift the black bottle with the left arm and give it a shake.", + "Secure the yellow-capped cylindrical bottle and perform a shake.", + "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.", + "Grab and shake the drink bottle with rounded yellow lid using the left arm.", + "Using the left arm, shake the plastic bottle with colorful label and then place it back.", + "Grab the plastic bottle with colorful label using the left arm, then shake.", + "Hold the yellow capped drink bottle with the left arm and shake lightly.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Use the left arm to hold the medium bottle with yellow cap and shake it.", + "Grab the black bottle and move it to shake.", + "Grab the plastic bottle with colorful label and shake it steadily.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Shake the bottle with blue and yellow print after holding it firmly.", + "Hold and shake the the drink bottle with rounded yellow lid carefully.", + "Shake the medium black bottle with printed label using the left arm after grabbing.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid.", + "Grasp the smooth black bottle with ridges with the left arm and shake it.", + "Use the left arm to grab the drink bottle with rounded yellow lid and shake properly." + ], + "unseen": [ + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode385.json b/shake_bottle/ur5_randomized_500/instructions/episode385.json new file mode 100644 index 0000000000000000000000000000000000000000..66346f4fc0b2115f9fa72a0cb5d956995623e209 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode385.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth plastic bottle after holding it firmly.", + "Hold the medium-sized bottle with the right arm and shake lightly.", + "Shake the medium plastic bottle with cap after lifting it.", + "Grab the plastic bottle using the right arm, then shake.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Grip the yellow bottle using the right arm and shake.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Shake the yellow bottle with blue label firmly after grabbing.", + "Use the right arm to hold the plastic bottle and shake it.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Lift the plastic bottle with curved sides and shake it thoroughly.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Grab the medium-sized bottle and move it to shake.", + "Utilize the right arm to hold the medium-sized bottle and shake it.", + "Grab and shake the yellow bottle with dark label using the right arm.", + "Grab the yellow bottle with blue label carefully and shake.", + "Lift up the medium plastic bottle with cap using the right arm, then shake.", + "Pick the medium-sized bottle and perform shaking motion.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Lift the yellow bottle with the right arm and shake.", + "Pick up the bottle with screw cap and shake it well.", + "Grab the medium plastic bottle with cap and shake it steadily.", + "Pick the plastic bottle up with the right arm and shake.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the plastic bottle with curved sides and shake it.", + "Use the right arm to lift and shake the yellow bottle with dark label.", + "Hold the medium-sized bottle steady, then shake it.", + "Shake the the plastic bottle with curved sides properly after lifting.", + "Use the right arm to grab the yellow bottle for liquid storage and shake properly.", + "Use the right arm to grab the yellow bottle and shake it.", + "Lift the yellow bottle for liquid storage with the right arm and shake it.", + "Secure the medium-sized bottle and perform a shake.", + "Lift the plastic bottle and shake it gently.", + "Catch the medium plastic bottle with cap and shake it instantly.", + "Using the right arm, shake the yellow bottle for liquid storage and then place it back.", + "Grab the handheld curvy bottle with the right arm and shake.", + "Grab the handheld curvy bottle and give it a shake.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "With the right arm, pick the handheld curvy bottle and shake properly.", + "Pick the yellow bottle for liquid storage up using the right arm and shake it.", + "Shake the yellow bottle with dark label after grabbing it.", + "Use the right arm to lift and shake the yellow bottle for liquid storage.", + "Shake the bottle with screw cap using the right arm after grabbing.", + "Hold the handheld curvy bottle and shake it properly.", + "Secure the medium plastic bottle with cap, shake it, and place it down.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Use the right arm to pick and shake the medium-sized bottle.", + "Lift the bottle with screw cap with the right arm and give it a shake.", + "Hold and shake the the medium-sized bottle carefully.", + "Shake the plastic bottle after holding it firmly.", + "Hold the yellow bottle with the right arm and shake lightly.", + "Shake the yellow bottle after lifting it.", + "Grab the handheld curvy bottle using the right arm, then shake.", + "Pick the plastic bottle with curved sides, shake it with the right arm.", + "Grip the plastic bottle with curved sides using the right arm and shake.", + "Take the handheld curvy bottle using the right arm and give it a shake.", + "Shake the plastic bottle with curved sides firmly after grabbing.", + "Use the right arm to hold the plastic bottle with curved sides and shake it.", + "Shake the yellow bottle with dark label thoroughly after grabbing it.", + "Lift the bottle with screw cap and shake it thoroughly.", + "Shake the bottle for liquid after grabbing it.", + "Grab the medium-sized bottle and move it to shake.", + "Utilize the right arm to hold the bottle for liquid and shake it.", + "Grab and shake the bottle with screw cap using the right arm.", + "Grab the medium plastic bottle with cap carefully and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Pick the yellow bottle and perform shaking motion.", + "Grasp the handheld curvy bottle with the right arm and shake it.", + "Lift the medium plastic bottle with cap with the right arm and shake.", + "Pick up the bottle for liquid and shake it well.", + "Grab the bottle with screw cap and shake it steadily.", + "Pick the yellow bottle with dark label up with the right arm and shake.", + "Hold the yellow bottle, shake it briefly.", + "Pick up the medium plastic bottle with cap and shake it.", + "Use the right arm to lift and shake the yellow bottle.", + "Hold the smooth plastic bottle steady, then shake it.", + "Shake the the medium-sized bottle properly after lifting.", + "Use the right arm to grab the yellow bottle for liquid storage and shake properly.", + "Use the right arm to grab the yellow bottle for liquid storage and shake it.", + "Lift the handheld curvy bottle with the right arm and shake it.", + "Secure the medium plastic bottle with cap and perform a shake.", + "Lift the plastic bottle and shake it gently.", + "Catch the yellow bottle for liquid storage and shake it instantly.", + "Using the right arm, shake the yellow bottle with dark label and then place it back.", + "Grab the plastic bottle with the right arm and shake.", + "Grab the bottle with screw cap and give it a shake.", + "Shake the bottle with screw cap after grabbing it.", + "Use the right arm to lift and shake the handheld curvy bottle.", + "With the right arm, pick the yellow bottle with blue label and shake properly.", + "Pick the medium-sized bottle up using the right arm and shake it.", + "Shake the yellow bottle with blue label after grabbing it.", + "Use the right arm to lift and shake the bottle for liquid.", + "Shake the yellow bottle with dark label using the right arm after grabbing.", + "Hold the plastic bottle and shake it properly.", + "Secure the plastic bottle with curved sides, shake it, and place it down.", + "Grab the handheld curvy bottle firmly, shake it, and put it down.", + "Use the right arm to pick and shake the bottle with screw cap.", + "Lift the medium-sized bottle with the right arm and give it a shake.", + "Hold and shake the the yellow bottle with blue label carefully." + ], + "unseen": [ + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode386.json b/shake_bottle/ur5_randomized_500/instructions/episode386.json new file mode 100644 index 0000000000000000000000000000000000000000..4cac4f9e523300e310b6f65b8348e0519a7892c3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode386.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the drink bottle with rounded yellow lid and shake it thoroughly.", + "Shake the yellow capped drink bottle using the left arm after grabbing.", + "Grab the black plastic bottle with Pepsi logo using the left arm, then shake.", + "Shake the the plastic bottle with colorful label properly after lifting.", + "Lift the plastic bottle with colorful label with the left arm and give it a shake.", + "Using the left arm, shake the yellow-capped cylindrical bottle and then place it back.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Pick the plastic bottle with colorful label and perform shaking motion.", + "Hold and shake the the smooth black bottle with ridges carefully.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Pick up the smooth black bottle with ridges and shake it.", + "Take the smooth black bottle with ridges using the left arm and give it a shake.", + "Lift up the yellow capped drink bottle using the left arm, then shake.", + "Pick the black bottle up using the left arm and shake it.", + "Hold the beverage bottle with black body and shake it properly.", + "Utilize the left arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Use the left arm to lift and shake the beverage bottle with black body.", + "Catch the smooth black bottle with ridges and shake it instantly.", + "Shake the bottle with blue and yellow print after holding it firmly.", + "Grab the beverage bottle with black body carefully and shake.", + "Grab the medium black bottle with printed label and move it to shake.", + "Hold the smooth black bottle with ridges, shake it briefly.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Grab the medium black bottle with printed label with the left arm and shake.", + "Shake the yellow capped drink bottle after lifting it.", + "Grab and shake the black cylindrical bottle with ridges using the left arm.", + "Use the left arm to grab the medium black bottle with printed label and shake it.", + "Hold the yellow-capped cylindrical bottle with the left arm and shake lightly.", + "Use the left arm to hold the medium bottle with yellow cap and shake it.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Pick up the plastic bottle with colorful label and shake it well.", + "With the left arm, pick the black plastic bottle with Pepsi logo and shake properly.", + "Secure the plastic bottle with colorful label and perform a shake.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Grab the bottle with blue and yellow print and shake it steadily.", + "Use the left arm to pick and shake the yellow-capped cylindrical bottle.", + "Pick the smooth black bottle with ridges up with the left arm and shake.", + "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Grip the smooth black bottle with ridges using the left arm and shake.", + "Use the left arm to grab the drink bottle with rounded yellow lid and shake properly.", + "Secure the plastic bottle with colorful label, shake it, and place it down.", + "Lift the smooth black bottle with ridges with the left arm and shake.", + "Shake the yellow capped drink bottle thoroughly after grabbing it.", + "Pick the plastic bottle with colorful label, shake it with the left arm.", + "Lift the black cylindrical bottle with ridges with the left arm and shake it.", + "Grab the plastic bottle with colorful label and give it a shake.", + "Hold the yellow-capped cylindrical bottle steady, then shake it.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Shake the black cylindrical bottle with ridges using the left arm after grabbing.", + "Grab the beverage bottle with black body using the left arm, then shake.", + "Shake the the beverage bottle with black body properly after lifting.", + "Lift the yellow capped drink bottle with the left arm and give it a shake.", + "Using the left arm, shake the yellow capped drink bottle and then place it back.", + "Use the left arm to lift and shake the black bottle.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Grab the bottle with blue and yellow print firmly, shake it, and put it down.", + "Pick up the medium bottle with yellow cap and shake it.", + "Take the smooth black bottle with ridges using the left arm and give it a shake.", + "Lift up the yellow capped drink bottle using the left arm, then shake.", + "Pick the beverage bottle with black body up using the left arm and shake it.", + "Hold the beverage bottle with black body and shake it properly.", + "Utilize the left arm to hold the smooth black bottle with ridges and shake it.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Shake the drink bottle with rounded yellow lid after holding it firmly.", + "Grab the medium bottle with yellow cap carefully and shake.", + "Grab the medium bottle with yellow cap and move it to shake.", + "Hold the smooth black bottle with ridges, shake it briefly.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Grab the smooth black bottle with ridges with the left arm and shake.", + "Shake the medium black bottle with printed label after lifting it.", + "Grab and shake the smooth black bottle with ridges using the left arm.", + "Use the left arm to grab the yellow-capped cylindrical bottle and shake it.", + "Hold the medium black bottle with printed label with the left arm and shake lightly.", + "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "Lift the plastic bottle with colorful label and shake it gently.", + "Pick up the medium bottle with yellow cap and shake it well.", + "With the left arm, pick the medium black bottle with printed label and shake properly.", + "Secure the black cylindrical bottle with ridges and perform a shake.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Grab the medium black bottle with printed label and shake it steadily.", + "Use the left arm to pick and shake the yellow capped drink bottle.", + "Pick the medium bottle with yellow cap up with the left arm and shake.", + "Grasp the beverage bottle with black body with the left arm and shake it.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Grip the smooth black bottle with ridges using the left arm and shake.", + "Use the left arm to grab the medium black bottle with printed label and shake properly.", + "Secure the medium black bottle with printed label, shake it, and place it down.", + "Lift the drink bottle with rounded yellow lid with the left arm and shake.", + "Shake the black bottle thoroughly after grabbing it.", + "Pick the smooth black bottle with ridges, shake it with the left arm.", + "Lift the drink bottle with rounded yellow lid with the left arm and shake it.", + "Grab the black cylindrical bottle with ridges and give it a shake.", + "Hold the medium bottle with yellow cap steady, then shake it." + ], + "unseen": [ + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode387.json b/shake_bottle/ur5_randomized_500/instructions/episode387.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f67d4c2fc0817ad21a0888fcc1e47a04152532 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode387.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow bottle for liquid storage after grabbing it.", + "Utilize the left arm to hold the plastic bottle with curved sides and shake it.", + "Grab the handheld curvy bottle using the left arm, then shake.", + "Grip the plastic bottle with curved sides using the left arm and shake.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Grab the handheld curvy bottle and shake it steadily.", + "Lift the yellow bottle with dark label and shake it gently.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the bottle for liquid and move it to shake.", + "Hold the bottle with screw cap with the left arm and shake lightly.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Pick up the bottle with screw cap and shake it.", + "Hold the handheld curvy bottle steady, then shake it.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Using the left arm, shake the bottle with screw cap and then place it back.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the smooth plastic bottle carefully and shake.", + "Pick the yellow bottle with blue label, shake it with the left arm.", + "Secure the yellow bottle for liquid storage, shake it, and place it down.", + "With the left arm, pick the yellow bottle with blue label and shake properly.", + "Lift the handheld curvy bottle with the left arm and shake.", + "Take the plastic bottle with curved sides using the left arm and give it a shake.", + "Grab the handheld curvy bottle firmly, shake it, and put it down.", + "Shake the yellow bottle after holding it firmly.", + "Use the left arm to grab the yellow bottle with blue label and shake it.", + "Secure the handheld curvy bottle and perform a shake.", + "Shake the medium-sized bottle after lifting it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Use the left arm to hold the bottle for liquid and shake it.", + "Pick the yellow bottle up using the left arm and shake it.", + "Shake the the smooth plastic bottle properly after lifting.", + "Catch the bottle with screw cap and shake it instantly.", + "Shake the bottle for liquid using the left arm after grabbing.", + "Hold the plastic bottle with curved sides and shake it properly.", + "Grab the yellow bottle with dark label with the left arm and shake.", + "Grab and shake the medium-sized bottle using the left arm.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Grasp the yellow bottle with dark label with the left arm and shake it.", + "Hold the medium-sized bottle, shake it briefly.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Pick up the yellow bottle with blue label and shake it well.", + "Hold and shake the the yellow bottle carefully.", + "Pick the yellow bottle for liquid storage and perform shaking motion.", + "Use the left arm to grab the bottle for liquid and shake properly.", + "Use the left arm to lift and shake the yellow bottle for liquid storage.", + "Pick the handheld curvy bottle up with the left arm and shake.", + "Grab the handheld curvy bottle and give it a shake.", + "Lift the medium-sized bottle with the left arm and shake it.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Shake the handheld curvy bottle after grabbing it.", + "Utilize the left arm to hold the medium plastic bottle with cap and shake it.", + "Grab the yellow bottle using the left arm, then shake.", + "Grip the handheld curvy bottle using the left arm and shake.", + "Shake the yellow bottle firmly after grabbing.", + "Grab the bottle for liquid and shake it steadily.", + "Lift the bottle for liquid and shake it gently.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Shake the yellow bottle with dark label after grabbing it.", + "Grab the medium-sized bottle and move it to shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the yellow bottle.", + "Pick up the bottle with screw cap and shake it.", + "Hold the yellow bottle with blue label steady, then shake it.", + "Lift the bottle for liquid with the left arm and give it a shake.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Grab the yellow bottle with dark label carefully and shake.", + "Pick the bottle with screw cap, shake it with the left arm.", + "Secure the yellow bottle with blue label, shake it, and place it down.", + "With the left arm, pick the plastic bottle with curved sides and shake properly.", + "Lift the yellow bottle with the left arm and shake.", + "Take the yellow bottle with dark label using the left arm and give it a shake.", + "Grab the yellow bottle with blue label firmly, shake it, and put it down.", + "Shake the bottle for liquid after holding it firmly.", + "Use the left arm to grab the yellow bottle with blue label and shake it.", + "Secure the yellow bottle with blue label and perform a shake.", + "Shake the yellow bottle after lifting it.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Use the left arm to hold the bottle with screw cap and shake it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the the yellow bottle properly after lifting.", + "Catch the bottle for liquid and shake it instantly.", + "Shake the yellow bottle for liquid storage using the left arm after grabbing.", + "Hold the yellow bottle with dark label and shake it properly.", + "Grab the plastic bottle with the left arm and shake.", + "Grab and shake the medium-sized bottle using the left arm.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Grasp the plastic bottle with curved sides with the left arm and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Shake the yellow bottle with dark label thoroughly after grabbing it.", + "Pick up the smooth plastic bottle and shake it well.", + "Hold and shake the the bottle for liquid carefully.", + "Pick the handheld curvy bottle and perform shaking motion.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Pick the yellow bottle with blue label up with the left arm and shake.", + "Grab the yellow bottle and give it a shake.", + "Lift the plastic bottle with curved sides with the left arm and shake it.", + "Lift up the bottle for liquid using the left arm, then shake." + ], + "unseen": [ + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Use the left arm to pick the yellow bottle with white cap." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode388.json b/shake_bottle/ur5_randomized_500/instructions/episode388.json new file mode 100644 index 0000000000000000000000000000000000000000..fc02b0f21e89efef7a15517f865ffdf97a52eb2b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode388.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow bottle with flower design with the right arm and give it a shake.", + "Lift the yellow body bottle and shake it thoroughly.", + "Shake the rectangular bottle using the right arm after grabbing.", + "Hold and shake the the handheld bottle carefully.", + "Shake the rectangular bottle after grabbing it.", + "Use the right arm to lift and shake the rectangular bottle.", + "Pick the yellow bottle with green label up using the right arm and shake it.", + "Grab the yellow bottle with cylindrical cap with the right arm and shake.", + "Shake the the yellow bottle with green label properly after lifting.", + "Pick the yellow bottle with flower design and perform shaking motion.", + "Grab the smooth yellow plastic bottle carefully and shake.", + "Lift the yellow bottle with cylindrical cap with the right arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to grab the smooth yellow plastic bottle and shake it.", + "With the right arm, pick the smooth yellow plastic bottle and shake properly.", + "Shake the handheld bottle after grabbing it.", + "Pick up the yellow bottle with green label and shake it well.", + "Grab and shake the yellow bottle with flower design using the right arm.", + "Grab the bottle with white cap using the right arm, then shake.", + "Lift the rectangular bottle with the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the rectangular bottle and give it a shake.", + "Take the yellow bottle with cylindrical cap using the right arm and give it a shake.", + "Hold the bottle with white cap steady, then shake it.", + "Pick the yellow bottle with flower design, shake it with the right arm.", + "Hold the rectangular bottle, shake it briefly.", + "Secure the rectangular bottle, shake it, and place it down.", + "Utilize the right arm to hold the yellow bottle with green label and shake it.", + "Shake the smooth yellow plastic bottle firmly after grabbing.", + "Use the right arm to grab the yellow body bottle and shake properly.", + "Shake the yellow bottle after lifting it.", + "Shake the handheld bottle after grabbing it.", + "Shake the yellow body bottle thoroughly after grabbing it.", + "Pick the yellow body bottle up with the right arm and shake.", + "Grab the rectangular bottle and shake it steadily.", + "Hold the bottle with green and white label with the right arm and shake lightly.", + "Catch the yellow bottle with flower design and shake it instantly.", + "Grasp the yellow bottle with cylindrical cap with the right arm and shake it.", + "Pick up the bottle with green and white label and shake it.", + "Lift up the rectangular bottle using the right arm, then shake.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Secure the rectangular bottle and perform a shake.", + "Lift the bottle with green and white label and shake it gently.", + "Use the right arm to pick and shake the yellow bottle with cylindrical cap.", + "Grab the smooth yellow plastic bottle firmly, shake it, and put it down.", + "Hold the yellow bottle and shake it properly.", + "Shake the bottle with green and white label after holding it firmly.", + "Use the right arm to lift and shake the bottle with green and white label.", + "Use the right arm to hold the yellow bottle with green label and shake it.", + "Grip the bottle with green and white label using the right arm and shake.", + "Lift the yellow bottle with cylindrical cap with the right arm and give it a shake.", + "Lift the yellow bottle with cylindrical cap and shake it thoroughly.", + "Shake the smooth yellow plastic bottle using the right arm after grabbing.", + "Hold and shake the the bottle with white cap carefully.", + "Shake the rectangular bottle after grabbing it.", + "Use the right arm to lift and shake the rectangular bottle.", + "Pick the handheld bottle up using the right arm and shake it.", + "Grab the yellow bottle with the right arm and shake.", + "Shake the the yellow bottle with flower design properly after lifting.", + "Pick the yellow body bottle and perform shaking motion.", + "Grab the yellow body bottle carefully and shake.", + "Lift the handheld bottle with the right arm and shake.", + "Grab the yellow body bottle and move it to shake.", + "Use the right arm to grab the bottle with white cap and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the bottle with white cap after grabbing it.", + "Pick up the yellow bottle and shake it well.", + "Grab and shake the plastic bottle using the right arm.", + "Grab the plastic bottle using the right arm, then shake.", + "Lift the rectangular bottle with the right arm and shake it.", + "Use the right arm to lift and shake the yellow bottle with green label.", + "Grab the bottle for liquids and give it a shake.", + "Take the yellow body bottle using the right arm and give it a shake.", + "Hold the bottle with white cap steady, then shake it.", + "Pick the yellow bottle with flower design, shake it with the right arm.", + "Hold the plastic bottle, shake it briefly.", + "Secure the yellow bottle with cylindrical cap, shake it, and place it down.", + "Utilize the right arm to hold the bottle for liquids and shake it.", + "Shake the bottle with white cap firmly after grabbing.", + "Use the right arm to grab the yellow bottle and shake properly.", + "Shake the handheld bottle after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Shake the bottle with green and white label thoroughly after grabbing it.", + "Pick the plastic bottle up with the right arm and shake.", + "Grab the bottle with green and white label and shake it steadily.", + "Hold the yellow bottle with the right arm and shake lightly.", + "Catch the bottle with green and white label and shake it instantly.", + "Grasp the yellow bottle with the right arm and shake it.", + "Pick up the handheld bottle and shake it.", + "Lift up the yellow bottle with cylindrical cap using the right arm, then shake.", + "Using the right arm, shake the rectangular bottle and then place it back.", + "Secure the handheld bottle and perform a shake.", + "Lift the bottle with green and white label and shake it gently.", + "Use the right arm to pick and shake the yellow body bottle.", + "Grab the yellow bottle with cylindrical cap firmly, shake it, and put it down.", + "Hold the yellow bottle and shake it properly.", + "Shake the bottle with white cap after holding it firmly.", + "Use the right arm to lift and shake the bottle with green and white label.", + "Use the right arm to hold the yellow bottle with cylindrical cap and shake it.", + "Grip the yellow bottle with cylindrical cap using the right arm and shake." + ], + "unseen": [ + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the bottle with printed label with the right arm and shake.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the right arm to grab the medium bottle and shake.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Pick up the bottle with printed label with the right arm and shake.", + "Use the right arm to pick the bottle with printed label.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the right arm to grab the medium bottle and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the medium bottle and give it a shake.", + "Shake the medium bottle after picking it with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Pick up the medium bottle with the right arm and shake.", + "Use the right arm to pick the bottle with printed label.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and give it a shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the medium bottle and give it a shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the bottle with printed label with the right arm and shake.", + "Use the right arm to pick the medium bottle.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the bottle with printed label with the right arm and shake.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the medium bottle with the right arm and shake.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with printed label and shake.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and give it a shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the bottle with printed label with the right arm and shake.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and give it a shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Pick up the medium bottle with the right arm and shake.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with printed label and give it a shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Grab the bottle with printed label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode389.json b/shake_bottle/ur5_randomized_500/instructions/episode389.json new file mode 100644 index 0000000000000000000000000000000000000000..c19e9a690d0d05de50679e6e244a1bab1cc2b94e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode389.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Secure the brown bottle and perform a shake.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Pick the brown bottle up with the left arm and shake.", + "Shake the brown bottle after grabbing it.", + "Lift the smooth brown bottle with green label with the left arm and shake it.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Shake the rectangular-shaped bottle with round cap thoroughly after grabbing it.", + "Hold the brown bottle with rounded rectangular shape, shake it briefly.", + "Lift the rectangular-shaped bottle with round cap with the left arm and shake.", + "Shake the medium bottle with glossy surface firmly after grabbing.", + "Shake the smooth plastic bottle with white cap after lifting it.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Pick the dark brown bottle with a squared body up using the left arm and shake it.", + "Use the left arm to pick and shake the bottle with green cap.", + "Shake the the bottle with green cap properly after lifting.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Grab and shake the rectangular brown body with white top using the left arm.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Shake the smooth plastic bottle with white cap after holding it firmly.", + "Grab the brown bottle using the left arm, then shake.", + "Pick up the bottle with green cap and shake it.", + "Grab the brown bottle with rounded rectangular shape with the left arm and shake.", + "Pick up the smooth brown bottle with green label and shake it well.", + "Hold the bottle with flat sides and logo steady, then shake it.", + "Hold the smooth brown bottle with green label with the left arm and shake lightly.", + "Shake the brown bottle with rounded rectangular shape using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Lift up the bottle with flat sides and logo using the left arm, then shake.", + "Lift the dark brown bottle with a squared body and shake it thoroughly.", + "Hold and shake the the bottle with green cap carefully.", + "Grab the smooth plastic bottle with white cap carefully and shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Use the left arm to hold the smooth brown bottle with green label and shake it.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake it.", + "Using the left arm, shake the rectangular-shaped bottle with round cap and then place it back.", + "Utilize the left arm to hold the bottle with flat sides and logo and shake it.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Grasp the medium bottle with glossy surface with the left arm and shake it.", + "Grab the brown bottle and shake it steadily.", + "Grab the medium-sized brown plastic bottle firmly, shake it, and put it down.", + "Grab the rectangular-shaped bottle with round cap and give it a shake.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Shake the rectangular brown body with white top after grabbing it.", + "Grip the rectangular brown body with white top using the left arm and shake.", + "Pick the bottle with green cap, shake it with the left arm.", + "Lift the smooth brown bottle with green label and shake it gently.", + "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.", + "Pick the brown bottle with rounded rectangular shape and perform shaking motion.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Lift the dark brown bottle with a squared body with the left arm and give it a shake.", + "Pick the brown bottle up with the left arm and shake.", + "Shake the rectangular brown body with white top after grabbing it.", + "Lift the brown bottle with rounded rectangular shape with the left arm and shake it.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Shake the brown bottle thoroughly after grabbing it.", + "Hold the rectangular-shaped bottle with round cap, shake it briefly.", + "Lift the medium-sized brown plastic bottle with the left arm and shake.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Shake the medium bottle with glossy surface after lifting it.", + "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.", + "Pick the dark brown bottle with a squared body up using the left arm and shake it.", + "Use the left arm to pick and shake the bottle with green cap.", + "Shake the the plastic bottle properly after lifting.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "Grab and shake the smooth plastic bottle with white cap using the left arm.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Shake the brown bottle after holding it firmly.", + "Grab the plastic bottle using the left arm, then shake.", + "Pick up the medium bottle with glossy surface and shake it.", + "Grab the plastic bottle with the left arm and shake.", + "Pick up the medium bottle with glossy surface and shake it well.", + "Hold the brown bottle steady, then shake it.", + "Hold the rectangular brown body with white top with the left arm and shake lightly.", + "Shake the rectangular brown body with white top using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with green cap.", + "Lift up the dark brown bottle with a squared body using the left arm, then shake.", + "Lift the brown bottle and shake it thoroughly.", + "Hold and shake the the rectangular-shaped bottle with round cap carefully.", + "Grab the brown bottle carefully and shake.", + "With the left arm, pick the rectangular brown body with white top and shake properly.", + "Use the left arm to hold the dark brown bottle with a squared body and shake it.", + "Use the left arm to grab the rectangular brown body with white top and shake it.", + "Using the left arm, shake the dark brown bottle with a squared body and then place it back.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Grasp the medium bottle with glossy surface with the left arm and shake it.", + "Grab the medium bottle with glossy surface and shake it steadily.", + "Grab the brown bottle firmly, shake it, and put it down.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Use the left arm to lift and shake the smooth brown bottle with green label.", + "Shake the brown bottle after grabbing it.", + "Grip the bottle with flat sides and logo using the left arm and shake.", + "Pick the plastic bottle, shake it with the left arm.", + "Lift the bottle with green cap and shake it gently.", + "Take the bottle with green cap using the left arm and give it a shake." + ], + "unseen": [ + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode39.json b/shake_bottle/ur5_randomized_500/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..088db6ff4acac685fa6b46157fff9a09c35ab0a2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle with colored label, shake it with the right arm.", + "Grab the green bottle with white label with the right arm and shake.", + "Grasp the smooth green and yellow bottle with the right arm and shake it.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Shake the handheld plastic bottle after holding it firmly.", + "Grab the plastic bottle with colored label and shake it steadily.", + "Lift the plastic bottle and shake it gently.", + "Catch the handheld plastic bottle and shake it instantly.", + "Hold the cylindrical bottle with rounded cap with the right arm and shake lightly.", + "Hold the cylindrical liquid bottle with yellow top steady, then shake it.", + "Lift up the handheld plastic bottle using the right arm, then shake.", + "Use the right arm to hold the cylindrical bottle with rounded cap and shake it.", + "Lift the green bottle with black text label with the right arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Pick the cylindrical bottle with rounded cap up with the right arm and shake.", + "Hold and shake the the bottle with glossy plastic finish carefully.", + "Pick the medium bottle with green body and perform shaking motion.", + "With the right arm, pick the bottle with yellow cap and shake properly.", + "Use the right arm to lift and shake the bottle with glossy plastic finish.", + "Lift the green bottle with the right arm and shake it.", + "Hold the bottle with glossy plastic finish and shake it properly.", + "Secure the green bottle with white label and perform a shake.", + "Take the bottle with yellow cap using the right arm and give it a shake.", + "Use the right arm to lift and shake the green bottle.", + "Shake the green bottle after grabbing it.", + "Use the right arm to grab the cylindrical bottle with rounded cap and shake it.", + "Use the right arm to grab the cylindrical bottle with rounded cap and shake properly.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift the plastic bottle with colored label with the right arm and shake.", + "Pick the cylindrical bottle with rounded cap up using the right arm and shake it.", + "Hold the green bottle with white label, shake it briefly.", + "Using the right arm, shake the handheld plastic bottle and then place it back.", + "Utilize the right arm to hold the green bottle with black text label and shake it.", + "Grab the cylindrical bottle with rounded cap using the right arm, then shake.", + "Shake the green bottle after lifting it.", + "Shake the handheld plastic bottle firmly after grabbing.", + "Grab the medium bottle with green body and move it to shake.", + "Use the right arm to lift and shake the green bottle with white label.", + "Pick up the smooth green and yellow bottle and shake it.", + "Grab and shake the green bottle using the right arm.", + "Shake the green bottle thoroughly after grabbing it.", + "Grab the cylindrical bottle with rounded cap firmly, shake it, and put it down.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Grab the green bottle with white label carefully and shake.", + "Use the right arm to pick and shake the green bottle.", + "Grab the handheld plastic bottle and give it a shake.", + "Grip the green bottle with white label using the right arm and shake.", + "Shake the green bottle with white label using the right arm after grabbing.", + "Pick up the cylindrical bottle with rounded cap and shake it well.", + "Shake the the plastic bottle with colored label properly after lifting.", + "Pick the smooth green and yellow bottle, shake it with the right arm.", + "Grab the plastic bottle with colored label with the right arm and shake.", + "Grasp the cylindrical liquid bottle with yellow top with the right arm and shake it.", + "Lift the plastic bottle with colored label and shake it thoroughly.", + "Shake the handheld plastic bottle after holding it firmly.", + "Grab the bottle with yellow cap and shake it steadily.", + "Lift the bottle with glossy plastic finish and shake it gently.", + "Catch the handheld plastic bottle and shake it instantly.", + "Hold the medium bottle with green body with the right arm and shake lightly.", + "Hold the smooth green and yellow bottle steady, then shake it.", + "Lift up the plastic bottle with colored label using the right arm, then shake.", + "Use the right arm to hold the plastic bottle with colored label and shake it.", + "Lift the handheld plastic bottle with the right arm and give it a shake.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Pick the medium bottle with green body up with the right arm and shake.", + "Hold and shake the the plastic bottle with colored label carefully.", + "Pick the plastic bottle with colored label and perform shaking motion.", + "With the right arm, pick the bottle with glossy plastic finish and shake properly.", + "Use the right arm to lift and shake the medium bottle with green body.", + "Lift the green bottle with white label with the right arm and shake it.", + "Hold the green bottle with black text label and shake it properly.", + "Secure the bottle with yellow cap and perform a shake.", + "Take the green bottle with white label using the right arm and give it a shake.", + "Use the right arm to lift and shake the green bottle with black text label.", + "Shake the medium bottle with green body after grabbing it.", + "Use the right arm to grab the green bottle and shake it.", + "Use the right arm to grab the plastic bottle with colored label and shake properly.", + "Secure the bottle with glossy plastic finish, shake it, and place it down.", + "Lift the plastic bottle with the right arm and shake.", + "Pick the green bottle with black text label up using the right arm and shake it.", + "Hold the handheld plastic bottle, shake it briefly.", + "Using the right arm, shake the green bottle with white label and then place it back.", + "Utilize the right arm to hold the bottle with yellow cap and shake it.", + "Grab the medium bottle with green body using the right arm, then shake.", + "Shake the handheld plastic bottle after lifting it.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the bottle with glossy plastic finish and move it to shake.", + "Use the right arm to lift and shake the cylindrical bottle with rounded cap.", + "Pick up the bottle with glossy plastic finish and shake it.", + "Grab and shake the bottle with glossy plastic finish using the right arm.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Grab the handheld plastic bottle firmly, shake it, and put it down.", + "Shake the green bottle with black text label after grabbing it.", + "Grab the medium bottle with green body carefully and shake.", + "Use the right arm to pick and shake the smooth green and yellow bottle.", + "Grab the bottle with yellow cap and give it a shake.", + "Grip the cylindrical liquid bottle with yellow top using the right arm and shake.", + "Shake the medium bottle with green body using the right arm after grabbing.", + "Pick up the cylindrical liquid bottle with yellow top and shake it well.", + "Shake the the medium bottle with green body properly after lifting." + ], + "unseen": [ + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Pick up the bottle with green base and black prints with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode390.json b/shake_bottle/ur5_randomized_500/instructions/episode390.json new file mode 100644 index 0000000000000000000000000000000000000000..b76aaaffcc2c2425ced8fbc09e40a2d06a00db0c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode390.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with white printed label, shake it, and place it down.", + "Shake the handheld green bottle firmly after grabbing.", + "Lift the medium green bottle and shake it gently.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Hold the bottle with rounded neck steady, then shake it.", + "Shake the the smooth green bottle properly after lifting.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Hold the medium-sized green bottle with the right arm and shake lightly.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the green bottle with indented base and move it to shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Hold the green bottle with indented base, shake it briefly.", + "Hold the smooth green bottle and shake it properly.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Grab the smooth green bottle using the right arm, then shake.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Shake the handheld green bottle after grabbing it.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Pick the medium green bottle up using the right arm and shake it.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Shake the handheld green bottle after holding it firmly.", + "Grab and shake the medium green bottle using the right arm.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the green bottle with indented base and shake it steadily.", + "Catch the bottle with ridges near base and shake it instantly.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Take the plastic bottle using the right arm and give it a shake.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Grab the green bottle with indented base and give it a shake.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Shake the handheld green bottle after grabbing it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Lift the bottle with narrow top with the right arm and shake.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Pick up the green bottle with indented base and shake it well.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the medium green bottle with the right arm and shake.", + "Shake the handheld green bottle after lifting it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Shake the medium green bottle firmly after grabbing.", + "Lift the bottle with narrow top and shake it gently.", + "Grasp the medium green bottle with capped neck with the right arm and shake it.", + "Hold the green bottle with indented base steady, then shake it.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Grab the bottle with white printed label and move it to shake.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Hold the green bottle with indented base, shake it briefly.", + "Hold the bottle with narrow top and shake it properly.", + "Pick the medium green bottle up with the right arm and shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Lift the medium green bottle and shake it thoroughly.", + "Use the right arm to pick and shake the smooth green bottle.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick up the smooth green bottle and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Shake the green bottle with indented base after holding it firmly.", + "Grab and shake the plastic bottle using the right arm.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grab the bottle with narrow top and shake it steadily.", + "Catch the green bottle with indented base and shake it instantly.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Secure the bottle with narrow top and perform a shake.", + "Grab the green bottle with indented base carefully and shake.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Take the medium green bottle using the right arm and give it a shake.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Grab the bottle with rounded neck and give it a shake.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Pick the handheld green bottle, shake it with the right arm.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Lift the handheld green bottle with the right arm and shake.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grip the plastic bottle using the right arm and shake.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Pick up the bottle with white printed label and shake it well.", + "Use the right arm to lift and shake the medium green bottle.", + "Grab the green bottle with indented base with the right arm and shake.", + "Shake the smooth green bottle after lifting it." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode391.json b/shake_bottle/ur5_randomized_500/instructions/episode391.json new file mode 100644 index 0000000000000000000000000000000000000000..f1688a8d639560e06e562143de5d577728c491b4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode391.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the plastic bottle for liquids and shake it.", + "Pick the handheld brown bottle with white lid, shake it with the left arm.", + "Hold the plastic bottle with printed label with the left arm and shake lightly.", + "Lift the bottle with white cap and shake it gently.", + "Lift the rounded bottle with printed details with the left arm and shake.", + "Shake the rounded bottle with printed details thoroughly after grabbing it.", + "Grab the white-capped brown cylindrical bottle and move it to shake.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Use the left arm to grab the medium plastic bottle and shake properly.", + "Take the bottle with dark brown color using the left arm and give it a shake.", + "Grip the rounded bottle with printed details using the left arm and shake.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Pick the smooth brown bottle up with the left arm and shake.", + "Shake the plastic bottle for liquids using the left arm after grabbing.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Shake the bottle with brown body and white top after grabbing it.", + "Using the left arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Grab the plastic bottle for liquids using the left arm, then shake.", + "Utilize the left arm to hold the smooth brown bottle and shake it.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Secure the rounded bottle with printed details, shake it, and place it down.", + "Shake the bottle with dark brown color after lifting it.", + "Grasp the handheld brown bottle with white lid with the left arm and shake it.", + "Shake the medium plastic bottle after grabbing it.", + "Lift up the plastic bottle for liquids using the left arm, then shake.", + "Pick up the bottle with brown body and white top and shake it.", + "Use the left arm to lift and shake the bottle with white cap.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Hold and shake the the bottle with dark brown color carefully.", + "Grab the bottle with dark brown color and shake it steadily.", + "Pick the bottle with dark brown color up using the left arm and shake it.", + "Use the left arm to pick and shake the bottle with white cap.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the left arm to hold the plastic bottle for liquids and shake it.", + "With the left arm, pick the bottle with brown body and white top and shake properly.", + "Grab the medium plastic bottle with the left arm and shake.", + "Shake the rounded bottle with printed details firmly after grabbing.", + "Grab and shake the handheld brown bottle with white lid using the left arm.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Secure the plastic bottle for liquids and perform a shake.", + "Pick the bottle with dark brown color and perform shaking motion.", + "Grab the bottle with white cap carefully and shake.", + "Use the left arm to grab the handheld brown bottle with white lid and shake it.", + "Pick the medium bottle with smooth texture, shake it with the left arm.", + "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.", + "Lift the rounded bottle with printed details and shake it gently.", + "Lift the medium plastic bottle with the left arm and shake.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Grab the cylindrical bottle with narrow neck and move it to shake.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Use the left arm to grab the medium bottle with smooth texture and shake properly.", + "Take the smooth brown bottle using the left arm and give it a shake.", + "Grip the smooth brown bottle using the left arm and shake.", + "Hold the smooth brown bottle and shake it properly.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Pick the rounded bottle with printed details up with the left arm and shake.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Shake the medium plastic bottle after grabbing it.", + "Using the left arm, shake the bottle with brown body and white top and then place it back.", + "Catch the medium bottle with smooth texture and shake it instantly.", + "Grab the smooth brown bottle using the left arm, then shake.", + "Utilize the left arm to hold the bottle with dark brown color and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Secure the smooth brown bottle, shake it, and place it down.", + "Shake the bottle with dark brown color after lifting it.", + "Grasp the plastic bottle with printed label with the left arm and shake it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Lift up the plastic bottle with printed label using the left arm, then shake.", + "Pick up the plastic bottle for liquids and shake it.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Pick up the medium plastic bottle and shake it well.", + "Hold the handheld brown bottle with white lid, shake it briefly.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Grab the smooth brown bottle and shake it steadily.", + "Pick the white-capped brown cylindrical bottle up using the left arm and shake it.", + "Use the left arm to pick and shake the plastic bottle for liquids.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Grab the smooth brown bottle and give it a shake.", + "Use the left arm to hold the rounded bottle with printed details and shake it.", + "With the left arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Grab the medium plastic bottle with the left arm and shake.", + "Shake the white-capped brown cylindrical bottle firmly after grabbing.", + "Grab and shake the bottle with white cap using the left arm.", + "Lift the bottle with brown body and white top with the left arm and shake it.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Secure the cylindrical bottle with narrow neck and perform a shake.", + "Pick the plastic bottle for liquids and perform shaking motion.", + "Grab the smooth brown bottle carefully and shake." + ], + "unseen": [ + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode392.json b/shake_bottle/ur5_randomized_500/instructions/episode392.json new file mode 100644 index 0000000000000000000000000000000000000000..61d210890845da5f32d3c62669fc692b462eb5e6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode392.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle for liquids and shake it steadily.", + "Grab the blue bottle with label and move it to shake.", + "Pick up the plastic bottle and shake it well.", + "Hold and shake the the blue bottle with label carefully.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "Lift the white bottle with blue accents and shake it gently.", + "Hold the plastic bottle steady, then shake it.", + "Shake the blue bottle after lifting it.", + "Use the left arm to lift and shake the handheld bottle.", + "Shake the medium-sized bottle after grabbing it.", + "Pick up the handheld bottle and shake it.", + "Shake the the handheld bottle properly after lifting.", + "Use the left arm to grab the bottle with blue cap and shake properly.", + "Grab the bottle with blue cap firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle for liquids.", + "Catch the cylindrical bottle and shake it instantly.", + "Grab the cylindrical bottle carefully and shake.", + "Grab the medium-sized bottle with the left arm and shake.", + "Lift up the blue bottle with label using the left arm, then shake.", + "Use the left arm to lift and shake the white and blue bottle.", + "Grab and shake the bottle with blue cap using the left arm.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Using the left arm, shake the medium bottle for beverages and then place it back.", + "Pick the blue bottle up with the left arm and shake.", + "Grab the medium bottle for beverages using the left arm, then shake.", + "Use the left arm to hold the handheld bottle and shake it.", + "Shake the medium bottle for beverages using the left arm after grabbing.", + "Shake the white bottle with blue accents firmly after grabbing.", + "Hold the bottle for liquids, shake it briefly.", + "Lift the bottle with blue cap with the left arm and give it a shake.", + "Shake the bottle for liquids after holding it firmly.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Hold the bottle with blue cap with the left arm and shake lightly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Secure the blue bottle and perform a shake.", + "Shake the blue bottle after grabbing it.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Shake the bottle for liquids after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Grip the handheld bottle using the left arm and shake.", + "Pick the handheld bottle and perform shaking motion.", + "Use the left arm to grab the bottle with blue cap and shake it.", + "Hold the blue bottle with label and shake it properly.", + "Grasp the blue bottle with the left arm and shake it.", + "Pick the handheld bottle, shake it with the left arm.", + "Grab the blue bottle and give it a shake.", + "With the left arm, pick the bottle with blue cap and shake properly.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the medium-sized bottle and shake it steadily.", + "Grab the white bottle with blue accents and move it to shake.", + "Pick up the cylindrical bottle and shake it well.", + "Hold and shake the the plastic bottle carefully.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Lift the bottle with blue cap and shake it gently.", + "Hold the medium-sized bottle steady, then shake it.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to lift and shake the blue bottle.", + "Shake the plastic bottle after grabbing it.", + "Pick up the handheld bottle and shake it.", + "Shake the the blue bottle properly after lifting.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Grab the medium bottle for beverages firmly, shake it, and put it down.", + "Use the left arm to lift and shake the blue bottle with label.", + "Catch the bottle for liquids and shake it instantly.", + "Grab the blue bottle with label carefully and shake.", + "Grab the bottle for liquids with the left arm and shake.", + "Lift up the bottle with blue cap using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Secure the cylindrical bottle, shake it, and place it down.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Grab the white and blue bottle using the left arm, then shake.", + "Use the left arm to hold the handheld bottle and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the white and blue bottle firmly after grabbing.", + "Hold the blue bottle, shake it briefly.", + "Lift the cylindrical bottle with the left arm and give it a shake.", + "Shake the medium-sized bottle after holding it firmly.", + "Lift the medium bottle for beverages with the left arm and shake it.", + "Pick the handheld bottle up using the left arm and shake it.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Secure the white bottle with blue accents and perform a shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Shake the medium-sized bottle after grabbing it.", + "Lift the bottle with blue cap and shake it thoroughly.", + "Take the bottle with blue cap using the left arm and give it a shake.", + "Grip the medium-sized bottle using the left arm and shake.", + "Pick the medium-sized bottle and perform shaking motion.", + "Use the left arm to grab the white and blue bottle and shake it.", + "Hold the medium bottle for beverages and shake it properly.", + "Grasp the white and blue bottle with the left arm and shake it.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab the white and blue bottle and give it a shake.", + "With the left arm, pick the handheld bottle and shake properly.", + "Lift the white and blue bottle with the left arm and shake." + ], + "unseen": [ + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode393.json b/shake_bottle/ur5_randomized_500/instructions/episode393.json new file mode 100644 index 0000000000000000000000000000000000000000..6484c0521465c13751521dc32f588638d9fff422 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode393.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle for liquid firmly after grabbing.", + "Use the left arm to pick and shake the yellow bottle.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Grab and shake the plastic bottle with curved sides using the left arm.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Use the left arm to grab the yellow bottle with dark label and shake it.", + "Hold the bottle with screw cap, shake it briefly.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Grab the medium plastic bottle with cap with the left arm and shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold and shake the the handheld curvy bottle carefully.", + "Grab the medium plastic bottle with cap and move it to shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick the yellow bottle with blue label up using the left arm and shake it.", + "Shake the yellow bottle with blue label thoroughly after grabbing it.", + "Hold the medium plastic bottle with cap and shake it properly.", + "Pick the medium-sized bottle and perform shaking motion.", + "Secure the medium plastic bottle with cap and perform a shake.", + "Shake the yellow bottle with dark label after lifting it.", + "Grab the bottle with screw cap and give it a shake.", + "Lift the yellow bottle with dark label with the left arm and shake it.", + "Shake the the yellow bottle with blue label properly after lifting.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the handheld curvy bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Pick up the yellow bottle and shake it well.", + "Grab the medium-sized bottle and shake it steadily.", + "Lift the plastic bottle with curved sides and shake it gently.", + "Pick the medium plastic bottle with cap, shake it with the left arm.", + "With the left arm, pick the handheld curvy bottle and shake properly.", + "Grip the bottle with screw cap using the left arm and shake.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Hold the bottle for liquid steady, then shake it.", + "Grab the yellow bottle with blue label firmly, shake it, and put it down.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grasp the handheld curvy bottle with the left arm and shake it.", + "Use the left arm to grab the medium plastic bottle with cap and shake properly.", + "Take the yellow bottle using the left arm and give it a shake.", + "Grab the plastic bottle with curved sides carefully and shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Shake the medium-sized bottle after grabbing it.", + "Secure the yellow bottle with dark label, shake it, and place it down.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to hold the bottle with screw cap and shake it.", + "Lift the plastic bottle with curved sides with the left arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Grab the plastic bottle using the left arm, then shake.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Shake the plastic bottle with curved sides after holding it firmly.", + "Shake the bottle for liquid firmly after grabbing.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Shake the handheld curvy bottle after grabbing it.", + "Grab and shake the medium-sized bottle using the left arm.", + "Lift up the handheld curvy bottle using the left arm, then shake.", + "Use the left arm to grab the bottle with screw cap and shake it.", + "Hold the yellow bottle with dark label, shake it briefly.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Grab the bottle with screw cap with the left arm and shake.", + "Hold the medium-sized bottle with the left arm and shake lightly.", + "Hold and shake the the medium-sized bottle carefully.", + "Grab the yellow bottle and move it to shake.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Pick up the bottle for liquid and shake it.", + "Pick the medium plastic bottle with cap up using the left arm and shake it.", + "Shake the medium plastic bottle with cap thoroughly after grabbing it.", + "Hold the smooth plastic bottle and shake it properly.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Secure the yellow bottle and perform a shake.", + "Shake the smooth plastic bottle after lifting it.", + "Grab the yellow bottle and give it a shake.", + "Lift the bottle for liquid with the left arm and shake it.", + "Shake the the yellow bottle with blue label properly after lifting.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Shake the yellow bottle for liquid storage using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Pick up the bottle with screw cap and shake it well.", + "Grab the plastic bottle and shake it steadily.", + "Lift the yellow bottle and shake it gently.", + "Pick the bottle with screw cap, shake it with the left arm.", + "With the left arm, pick the yellow bottle with dark label and shake properly.", + "Grip the yellow bottle with blue label using the left arm and shake.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Hold the bottle with screw cap steady, then shake it.", + "Grab the yellow bottle with dark label firmly, shake it, and put it down.", + "Lift the yellow bottle with the left arm and give it a shake.", + "Grasp the yellow bottle with dark label with the left arm and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake properly.", + "Take the medium plastic bottle with cap using the left arm and give it a shake.", + "Grab the bottle with screw cap carefully and shake.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Use the left arm to hold the yellow bottle with blue label and shake it.", + "Lift the yellow bottle with blue label with the left arm and shake.", + "Catch the yellow bottle with blue label and shake it instantly.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Utilize the left arm to hold the yellow bottle with dark label and shake it.", + "Shake the medium plastic bottle with cap after holding it firmly." + ], + "unseen": [ + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode394.json b/shake_bottle/ur5_randomized_500/instructions/episode394.json new file mode 100644 index 0000000000000000000000000000000000000000..472fc87a26adc280bb748ac5fd51f821f48c4f61 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode394.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the small bottle with bright yellow lid properly after lifting.", + "Shake the handheld medium-sized liquid bottle after grabbing it.", + "Hold the cylindrical orange bottle with smooth surface and shake it properly.", + "Using the left arm, shake the small bottle with bright yellow lid and then place it back.", + "Use the left arm to grab the rounded orange bottle with yellow top and shake properly.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Hold and shake the the rounded orange bottle with yellow top carefully.", + "Grab the rounded bottom orange plastic bottle and shake it steadily.", + "Shake the rounded orange bottle with yellow top after grabbing it.", + "Grab and shake the rounded bottom orange plastic bottle using the left arm.", + "Utilize the left arm to hold the liquid container with orange body and shake it.", + "Grasp the yellow-capped orange plastic bottle with the left arm and shake it.", + "Grab the handheld medium-sized liquid bottle using the left arm, then shake.", + "Grab the smooth orange cylindrical bottle and move it to shake.", + "Pick the orange bottle with bold labeling up with the left arm and shake.", + "Grip the liquid container with orange body using the left arm and shake.", + "Pick the yellow-capped bottle for beverages, shake it with the left arm.", + "Use the left arm to lift and shake the orange bottle with bold labeling.", + "Shake the orange bottle firmly after grabbing.", + "Shake the rounded orange bottle with yellow top using the left arm after grabbing.", + "With the left arm, pick the liquid container with orange body and shake properly.", + "Pick up the liquid container with orange body and shake it well.", + "Catch the handheld medium-sized liquid bottle and shake it instantly.", + "Secure the bottle with yellow cap and perform a shake.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Grab the orange bottle with the left arm and shake.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Secure the small bottle with bright yellow lid, shake it, and place it down.", + "Use the left arm to grab the bottle with yellow cap and shake it.", + "Lift the liquid container with orange body with the left arm and shake it.", + "Lift the liquid container with orange body with the left arm and give it a shake.", + "Grab the smooth orange cylindrical bottle and give it a shake.", + "Shake the yellow-capped bottle for beverages thoroughly after grabbing it.", + "Take the orange bottle with bold labeling using the left arm and give it a shake.", + "Hold the yellow-capped orange plastic bottle, shake it briefly.", + "Pick the orange bottle with bold labeling and perform shaking motion.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Use the left arm to hold the cylindrical orange bottle with smooth surface and shake it.", + "Shake the yellow-capped bottle for beverages after holding it firmly.", + "Grab the yellow-capped orange plastic bottle carefully and shake.", + "Grab the yellow-capped orange plastic bottle firmly, shake it, and put it down.", + "Hold the rounded orange bottle with yellow top steady, then shake it.", + "Use the left arm to pick and shake the orange bottle.", + "Shake the yellow-capped bottle for beverages after lifting it.", + "Hold the liquid container with orange body with the left arm and shake lightly.", + "Lift up the handheld medium-sized liquid bottle using the left arm, then shake.", + "Pick up the handheld medium-sized liquid bottle and shake it.", + "Lift the orange bottle and shake it gently.", + "Pick the rounded bottom orange plastic bottle up using the left arm and shake it.", + "Lift the liquid container with orange body with the left arm and shake.", + "Shake the the bottle with yellow cap properly after lifting.", + "Shake the smooth orange cylindrical bottle after grabbing it.", + "Hold the rounded orange bottle with yellow top and shake it properly.", + "Using the left arm, shake the bottle with yellow cap and then place it back.", + "Use the left arm to grab the handheld medium-sized liquid bottle and shake properly.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Hold and shake the the handheld medium-sized liquid bottle carefully.", + "Grab the yellow-capped bottle for beverages and shake it steadily.", + "Shake the liquid container with orange body after grabbing it.", + "Grab and shake the orange bottle with bold labeling using the left arm.", + "Utilize the left arm to hold the small bottle with bright yellow lid and shake it.", + "Grasp the liquid container with orange body with the left arm and shake it.", + "Grab the handheld medium-sized liquid bottle using the left arm, then shake.", + "Grab the liquid container with orange body and move it to shake.", + "Pick the yellow-capped orange plastic bottle up with the left arm and shake.", + "Grip the cylindrical orange bottle with smooth surface using the left arm and shake.", + "Pick the orange bottle with bold labeling, shake it with the left arm.", + "Use the left arm to lift and shake the rounded orange bottle with yellow top.", + "Shake the handheld medium-sized liquid bottle firmly after grabbing.", + "Shake the smooth orange cylindrical bottle using the left arm after grabbing.", + "With the left arm, pick the bottle with yellow cap and shake properly.", + "Pick up the liquid container with orange body and shake it well.", + "Catch the orange bottle with bold labeling and shake it instantly.", + "Secure the liquid container with orange body and perform a shake.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Grab the orange bottle with the left arm and shake.", + "Lift the yellow-capped bottle for beverages and shake it thoroughly.", + "Secure the rounded bottom orange plastic bottle, shake it, and place it down.", + "Use the left arm to grab the yellow-capped orange plastic bottle and shake it.", + "Lift the cylindrical orange bottle with smooth surface with the left arm and shake it.", + "Lift the yellow-capped orange plastic bottle with the left arm and give it a shake.", + "Grab the rounded orange bottle with yellow top and give it a shake.", + "Shake the handheld medium-sized liquid bottle thoroughly after grabbing it.", + "Take the yellow-capped bottle for beverages using the left arm and give it a shake.", + "Hold the yellow-capped bottle for beverages, shake it briefly.", + "Pick the handheld medium-sized liquid bottle and perform shaking motion.", + "Shake the rounded bottom orange plastic bottle after grabbing it.", + "Use the left arm to hold the yellow-capped bottle for beverages and shake it.", + "Shake the yellow-capped bottle for beverages after holding it firmly.", + "Grab the cylindrical orange bottle with smooth surface carefully and shake.", + "Grab the smooth orange cylindrical bottle firmly, shake it, and put it down.", + "Hold the orange bottle steady, then shake it.", + "Use the left arm to pick and shake the orange bottle.", + "Shake the handheld medium-sized liquid bottle after lifting it.", + "Hold the smooth orange cylindrical bottle with the left arm and shake lightly.", + "Lift up the smooth orange cylindrical bottle using the left arm, then shake.", + "Pick up the bottle with yellow cap and shake it.", + "Lift the yellow-capped bottle for beverages and shake it gently.", + "Pick the smooth orange cylindrical bottle up using the left arm and shake it.", + "Lift the liquid container with orange body with the left arm and shake." + ], + "unseen": [ + "Pick up the medium plastic bottle with the left arm and shake.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium bottle for liquids and shake it.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium plastic bottle and shake it.", + "Grab the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium plastic bottle and shake it.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Grab the medium bottle for liquids and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode395.json b/shake_bottle/ur5_randomized_500/instructions/episode395.json new file mode 100644 index 0000000000000000000000000000000000000000..2dc114831bbdb940449c7d788e040a344ec288f0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode395.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the rectangular brown body with white top, shake it, and place it down.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Shake the bottle with green cap after holding it firmly.", + "Lift the dark brown bottle with a squared body and shake it thoroughly.", + "Grab the rectangular brown body with white top firmly, shake it, and put it down.", + "Use the right arm to pick and shake the smooth brown bottle with green label.", + "Grip the rectangular-shaped bottle with round cap using the right arm and shake.", + "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.", + "Secure the dark brown bottle with a squared body and perform a shake.", + "Use the right arm to grab the brown bottle and shake properly.", + "Shake the bottle with flat sides and logo firmly after grabbing.", + "Shake the brown bottle after grabbing it.", + "Grab the smooth plastic bottle with white cap using the right arm, then shake.", + "Shake the rectangular brown body with white top thoroughly after grabbing it.", + "With the right arm, pick the bottle with flat sides and logo and shake properly.", + "Use the right arm to lift and shake the rectangular-shaped bottle with round cap.", + "Catch the bottle with flat sides and logo and shake it instantly.", + "Take the medium-sized brown plastic bottle using the right arm and give it a shake.", + "Lift the medium-sized brown plastic bottle and shake it gently.", + "Pick the rectangular brown body with white top up using the right arm and shake it.", + "Using the right arm, shake the medium-sized brown plastic bottle and then place it back.", + "Grasp the smooth plastic bottle with white cap with the right arm and shake it.", + "Grab the brown bottle with rounded rectangular shape with the right arm and shake.", + "Utilize the right arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Hold the rectangular brown body with white top and shake it properly.", + "Hold and shake the the smooth plastic bottle with white cap carefully.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Grab the medium-sized brown plastic bottle carefully and shake.", + "Grab the plastic bottle and move it to shake.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Pick the bottle with green cap, shake it with the right arm.", + "Pick the smooth brown bottle with green label up with the right arm and shake.", + "Lift the smooth brown bottle with green label with the right arm and shake.", + "Use the right arm to lift and shake the dark brown bottle with a squared body.", + "Pick the bottle with green cap and perform shaking motion.", + "Shake the medium-sized brown plastic bottle using the right arm after grabbing.", + "Lift the bottle with flat sides and logo with the right arm and give it a shake.", + "Use the right arm to grab the brown bottle with rounded rectangular shape and shake it.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Hold the medium bottle with glossy surface, shake it briefly.", + "Pick up the plastic bottle and shake it.", + "Lift up the rectangular-shaped bottle with round cap using the right arm, then shake.", + "Grab and shake the smooth brown bottle with green label using the right arm.", + "Grab the dark brown bottle with a squared body and shake it steadily.", + "Hold the bottle with green cap with the right arm and shake lightly.", + "Shake the smooth brown bottle with green label after lifting it.", + "Pick up the bottle with green cap and shake it well.", + "Shake the the bottle with green cap properly after lifting.", + "Hold the dark brown bottle with a squared body steady, then shake it.", + "Lift the brown bottle with the right arm and shake it.", + "Secure the bottle with green cap, shake it, and place it down.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Shake the bottle with green cap after holding it firmly.", + "Lift the brown bottle and shake it thoroughly.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down.", + "Use the right arm to pick and shake the brown bottle with rounded rectangular shape.", + "Grip the brown bottle with rounded rectangular shape using the right arm and shake.", + "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.", + "Secure the plastic bottle and perform a shake.", + "Use the right arm to grab the brown bottle with rounded rectangular shape and shake properly.", + "Shake the bottle with green cap firmly after grabbing.", + "Shake the bottle with green cap after grabbing it.", + "Grab the rectangular-shaped bottle with round cap using the right arm, then shake.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "With the right arm, pick the medium-sized brown plastic bottle and shake properly.", + "Use the right arm to lift and shake the smooth plastic bottle with white cap.", + "Catch the rectangular-shaped bottle with round cap and shake it instantly.", + "Take the medium-sized brown plastic bottle using the right arm and give it a shake.", + "Lift the dark brown bottle with a squared body and shake it gently.", + "Pick the bottle with green cap up using the right arm and shake it.", + "Using the right arm, shake the smooth plastic bottle with white cap and then place it back.", + "Grasp the medium bottle with glossy surface with the right arm and shake it.", + "Grab the rectangular-shaped bottle with round cap with the right arm and shake.", + "Utilize the right arm to hold the brown bottle and shake it.", + "Hold the medium bottle with glossy surface and shake it properly.", + "Hold and shake the the dark brown bottle with a squared body carefully.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Grab the bottle with green cap carefully and shake.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Pick the smooth plastic bottle with white cap, shake it with the right arm.", + "Pick the plastic bottle up with the right arm and shake.", + "Lift the medium-sized brown plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with green cap.", + "Pick the rectangular-shaped bottle with round cap and perform shaking motion.", + "Shake the plastic bottle using the right arm after grabbing.", + "Lift the bottle with green cap with the right arm and give it a shake.", + "Use the right arm to grab the dark brown bottle with a squared body and shake it.", + "Use the right arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Hold the medium-sized brown plastic bottle, shake it briefly.", + "Pick up the bottle with green cap and shake it.", + "Lift up the dark brown bottle with a squared body using the right arm, then shake.", + "Grab and shake the plastic bottle using the right arm.", + "Grab the medium bottle with glossy surface and shake it steadily.", + "Hold the medium bottle with glossy surface with the right arm and shake lightly.", + "Shake the plastic bottle after lifting it.", + "Pick up the rectangular-shaped bottle with round cap and shake it well.", + "Shake the the medium bottle with glossy surface properly after lifting.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Lift the smooth brown bottle with green label with the right arm and shake it." + ], + "unseen": [ + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to pick the bottle with green label and white lid.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode396.json b/shake_bottle/ur5_randomized_500/instructions/episode396.json new file mode 100644 index 0000000000000000000000000000000000000000..72d183eccfb5cbc5f22a5e1ae48e2441e91d71bc --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode396.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Pick the plastic bottle for liquids and perform shaking motion.", + "Secure the bottle with dark brown color, shake it, and place it down.", + "Shake the medium plastic bottle after lifting it.", + "Catch the medium plastic bottle and shake it instantly.", + "Secure the bottle with brown body and white top and perform a shake.", + "Lift up the bottle with dark brown color using the right arm, then shake.", + "Utilize the right arm to hold the medium plastic bottle and shake it.", + "Lift the rounded bottle with printed details with the right arm and shake.", + "Shake the medium plastic bottle after holding it firmly.", + "Grab the plastic bottle for liquids and give it a shake.", + "Pick up the smooth brown bottle and shake it.", + "Grab and shake the white-capped brown cylindrical bottle using the right arm.", + "Shake the medium bottle with smooth texture using the right arm after grabbing.", + "Pick the white-capped brown cylindrical bottle up using the right arm and shake it.", + "Grasp the bottle with dark brown color with the right arm and shake it.", + "Grab the bottle with brown body and white top carefully and shake.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Pick up the plastic bottle with printed label and shake it well.", + "Lift the rounded bottle with printed details with the right arm and give it a shake.", + "With the right arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Lift the smooth brown bottle with the right arm and shake it.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Grab the smooth brown bottle and shake it steadily.", + "Use the right arm to grab the bottle with brown body and white top and shake it.", + "Lift the medium plastic bottle and shake it gently.", + "Use the right arm to hold the smooth brown bottle and shake it.", + "Grab the plastic bottle with printed label with the right arm and shake.", + "Pick the white-capped brown cylindrical bottle, shake it with the right arm.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Grip the plastic bottle with printed label using the right arm and shake.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Hold and shake the the smooth brown bottle carefully.", + "Using the right arm, shake the handheld brown bottle with white lid and then place it back.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Pick the medium plastic bottle up with the right arm and shake.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Grab the medium plastic bottle using the right arm, then shake.", + "Use the right arm to pick and shake the white-capped brown cylindrical bottle.", + "Grab the cylindrical bottle with narrow neck and move it to shake.", + "Hold the rounded bottle with printed details and shake it properly.", + "Use the right arm to lift and shake the plastic bottle for liquids.", + "Hold the smooth brown bottle with the right arm and shake lightly.", + "Shake the plastic bottle with printed label after grabbing it.", + "Use the right arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Shake the bottle with brown body and white top after grabbing it.", + "Hold the handheld brown bottle with white lid steady, then shake it.", + "Shake the the bottle with dark brown color properly after lifting.", + "Pick the medium plastic bottle and perform shaking motion.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Catch the medium bottle with smooth texture and shake it instantly.", + "Secure the bottle with brown body and white top and perform a shake.", + "Lift up the rounded bottle with printed details using the right arm, then shake.", + "Utilize the right arm to hold the rounded bottle with printed details and shake it.", + "Lift the bottle with white cap with the right arm and shake.", + "Shake the medium plastic bottle after holding it firmly.", + "Grab the rounded bottle with printed details and give it a shake.", + "Pick up the smooth brown bottle and shake it.", + "Grab and shake the bottle with brown body and white top using the right arm.", + "Shake the medium bottle with smooth texture using the right arm after grabbing.", + "Pick the bottle with white cap up using the right arm and shake it.", + "Grasp the medium plastic bottle with the right arm and shake it.", + "Grab the bottle with white cap carefully and shake.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Pick up the smooth brown bottle and shake it well.", + "Lift the handheld brown bottle with white lid with the right arm and give it a shake.", + "With the right arm, pick the medium plastic bottle and shake properly.", + "Lift the smooth brown bottle with the right arm and shake it.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Use the right arm to grab the medium plastic bottle and shake it.", + "Lift the rounded bottle with printed details and shake it gently.", + "Use the right arm to hold the smooth brown bottle and shake it.", + "Grab the bottle with dark brown color with the right arm and shake.", + "Pick the bottle with white cap, shake it with the right arm.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Shake the smooth brown bottle after grabbing it.", + "Grip the rounded bottle with printed details using the right arm and shake.", + "Shake the plastic bottle for liquids thoroughly after grabbing it.", + "Hold and shake the the medium bottle with smooth texture carefully.", + "Using the right arm, shake the medium plastic bottle and then place it back.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Pick the bottle with white cap up with the right arm and shake.", + "Hold the cylindrical bottle with narrow neck, shake it briefly.", + "Grab the handheld brown bottle with white lid using the right arm, then shake.", + "Use the right arm to pick and shake the handheld brown bottle with white lid.", + "Grab the bottle with brown body and white top and move it to shake.", + "Hold the plastic bottle for liquids and shake it properly.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Hold the bottle with dark brown color with the right arm and shake lightly.", + "Shake the bottle with brown body and white top after grabbing it.", + "Use the right arm to grab the medium bottle with smooth texture and shake properly.", + "Take the handheld brown bottle with white lid using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with brown body and white top." + ], + "unseen": [ + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode397.json b/shake_bottle/ur5_randomized_500/instructions/episode397.json new file mode 100644 index 0000000000000000000000000000000000000000..497d72d9b7878d74abeba83268e22c9db6fd8763 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode397.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with orange cap firmly after grabbing.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Use the left arm to grab the cylindrical orange and white bottle and shake properly.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the medium bottle with orange lid and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Pick the drinking bottle with yellow label, shake it with the left arm.", + "Grab the orange and white bottle with cap and move it to shake.", + "Lift the bottle with orange cap with the left arm and shake it.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Hold the bottle with ribbed orange bottom and shake it properly.", + "Shake the bottle with orange cap thoroughly after grabbing it.", + "Lift the drinking bottle with yellow label with the left arm and shake.", + "Pick the orange and white bottle with cap up with the left arm and shake.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Use the left arm to grab the yellow label bottle and shake it.", + "Use the left arm to pick and shake the cylindrical orange and white bottle.", + "Grip the medium orange bottle using the left arm and shake.", + "Grab and shake the cylindrical orange and white bottle using the left arm.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Catch the plastic bottle and shake it instantly.", + "Grasp the plastic bottle with the left arm and shake it.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Hold the orange bottle, shake it briefly.", + "Secure the medium bottle with orange lid and perform a shake.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Hold and shake the the plastic bottle carefully.", + "Lift up the orange bottle using the left arm, then shake.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Lift the orange bottle with the left arm and give it a shake.", + "Use the left arm to hold the medium bottle with orange lid and shake it.", + "Shake the cylindrical orange and white bottle using the left arm after grabbing.", + "Hold the medium bottle with orange lid steady, then shake it.", + "Grab the plastic bottle with the left arm and shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Pick up the plastic bottle and shake it.", + "Shake the bottle with orange cap after grabbing it.", + "Lift the bottle with orange cap and shake it gently.", + "Grab the yellow label bottle and shake it steadily.", + "Shake the plastic bottle after holding it firmly.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Hold the bottle with ribbed orange bottom with the left arm and shake lightly.", + "Pick up the cylindrical orange and white bottle and shake it well.", + "Shake the the bottle with orange cap properly after lifting.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the bottle with orange cap firmly after grabbing.", + "Shake the orange and white bottle with cap after grabbing it.", + "Use the left arm to grab the drinking bottle with yellow label and shake properly.", + "Pick the bottle with orange cap up using the left arm and shake it.", + "Secure the orange bottle, shake it, and place it down.", + "Grab the plastic bottle and give it a shake.", + "Grab the bottle with ribbed orange bottom carefully and shake.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab the medium orange bottle and move it to shake.", + "Lift the orange and white bottle with cap with the left arm and shake it.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Hold the medium orange bottle and shake it properly.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Lift the medium orange bottle with the left arm and shake.", + "Pick the medium orange bottle up with the left arm and shake.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Use the left arm to grab the yellow label bottle and shake it.", + "Use the left arm to pick and shake the medium orange bottle.", + "Grip the white and orange plastic bottle using the left arm and shake.", + "Grab and shake the yellow label bottle using the left arm.", + "Use the left arm to lift and shake the cylindrical orange and white bottle.", + "Catch the yellow label bottle and shake it instantly.", + "Grasp the orange and white bottle with cap with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the orange bottle, shake it briefly.", + "Secure the drinking bottle with yellow label and perform a shake.", + "Use the left arm to lift and shake the yellow label bottle.", + "Hold and shake the the white and orange plastic bottle carefully.", + "Lift up the medium orange bottle using the left arm, then shake.", + "Take the medium orange bottle using the left arm and give it a shake.", + "Lift the orange bottle with the left arm and give it a shake.", + "Use the left arm to hold the white and orange plastic bottle and shake it.", + "Shake the drinking bottle with yellow label using the left arm after grabbing.", + "Hold the smooth plastic bottle steady, then shake it.", + "Grab the medium orange bottle with the left arm and shake.", + "Using the left arm, shake the bottle with orange cap and then place it back.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.", + "Pick up the medium bottle with orange lid and shake it.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Lift the bottle with orange cap and shake it gently.", + "Grab the white and orange plastic bottle and shake it steadily.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Lift the yellow label bottle and shake it thoroughly.", + "Utilize the left arm to hold the medium bottle with orange lid and shake it.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Hold the orange and white bottle with cap with the left arm and shake lightly.", + "Pick up the drinking bottle with yellow label and shake it well.", + "Shake the the orange and white bottle with cap properly after lifting.", + "Grab the bottle with orange cap using the left arm, then shake." + ], + "unseen": [ + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode398.json b/shake_bottle/ur5_randomized_500/instructions/episode398.json new file mode 100644 index 0000000000000000000000000000000000000000..c3370b38e59a9c2c2ae2db45a0b761cc1821f2f1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode398.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small bottle with bright yellow lid with the left arm and shake it.", + "Lift the rounded bottom orange plastic bottle with the left arm and shake.", + "Hold the smooth orange cylindrical bottle steady, then shake it.", + "Take the cylindrical orange bottle with smooth surface using the left arm and give it a shake.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Shake the orange bottle after holding it firmly.", + "Using the left arm, shake the liquid container with orange body and then place it back.", + "Pick the cylindrical orange bottle with smooth surface up using the left arm and shake it.", + "Grab the small bottle with bright yellow lid and give it a shake.", + "Pick up the orange bottle and shake it well.", + "Grab the orange bottle with bold labeling using the left arm, then shake.", + "Shake the smooth orange cylindrical bottle after lifting it.", + "Pick up the cylindrical orange bottle with smooth surface and shake it.", + "Utilize the left arm to hold the liquid container with orange body and shake it.", + "Hold the rounded bottom orange plastic bottle with the left arm and shake lightly.", + "Grab the cylindrical orange bottle with smooth surface carefully and shake.", + "With the left arm, pick the small bottle with bright yellow lid and shake properly.", + "Lift the small bottle with bright yellow lid and shake it gently.", + "Lift up the rounded bottom orange plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Hold the small bottle with bright yellow lid and shake it properly.", + "Grab the liquid container with orange body with the left arm and shake.", + "Secure the rounded bottom orange plastic bottle and perform a shake.", + "Pick the yellow-capped orange plastic bottle up with the left arm and shake.", + "Lift the orange bottle with bold labeling with the left arm and give it a shake.", + "Shake the yellow-capped orange plastic bottle after grabbing it.", + "Lift the orange bottle and shake it thoroughly.", + "Grab the handheld medium-sized liquid bottle and shake it steadily.", + "Shake the smooth orange cylindrical bottle thoroughly after grabbing it.", + "Shake the the orange bottle properly after lifting.", + "Grasp the orange bottle with the left arm and shake it.", + "Catch the orange bottle with bold labeling and shake it instantly.", + "Secure the small bottle with bright yellow lid, shake it, and place it down.", + "Use the left arm to lift and shake the yellow-capped bottle for beverages.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Use the left arm to grab the cylindrical orange bottle with smooth surface and shake properly.", + "Hold the cylindrical orange bottle with smooth surface, shake it briefly.", + "Shake the smooth orange cylindrical bottle after grabbing it.", + "Hold and shake the the liquid container with orange body carefully.", + "Shake the orange bottle after grabbing it.", + "Use the left arm to grab the smooth orange cylindrical bottle and shake it.", + "Shake the smooth orange cylindrical bottle firmly after grabbing.", + "Grip the cylindrical orange bottle with smooth surface using the left arm and shake.", + "Pick the bottle with yellow cap, shake it with the left arm.", + "Use the left arm to hold the bottle with yellow cap and shake it.", + "Grab and shake the rounded bottom orange plastic bottle using the left arm.", + "Shake the handheld medium-sized liquid bottle using the left arm after grabbing.", + "Pick the rounded orange bottle with yellow top and perform shaking motion.", + "Use the left arm to pick and shake the rounded bottom orange plastic bottle.", + "Grab the bottle with yellow cap and move it to shake.", + "Lift the liquid container with orange body with the left arm and shake it.", + "Lift the smooth orange cylindrical bottle with the left arm and shake.", + "Hold the orange bottle steady, then shake it.", + "Take the bottle with yellow cap using the left arm and give it a shake.", + "Grab the small bottle with bright yellow lid firmly, shake it, and put it down.", + "Shake the yellow-capped orange plastic bottle after holding it firmly.", + "Using the left arm, shake the handheld medium-sized liquid bottle and then place it back.", + "Pick the yellow-capped orange plastic bottle up using the left arm and shake it.", + "Grab the handheld medium-sized liquid bottle and give it a shake.", + "Pick up the bottle with yellow cap and shake it well.", + "Grab the small bottle with bright yellow lid using the left arm, then shake.", + "Shake the small bottle with bright yellow lid after lifting it.", + "Pick up the rounded bottom orange plastic bottle and shake it.", + "Utilize the left arm to hold the rounded bottom orange plastic bottle and shake it.", + "Hold the bottle with yellow cap with the left arm and shake lightly.", + "Grab the orange bottle with bold labeling carefully and shake.", + "With the left arm, pick the handheld medium-sized liquid bottle and shake properly.", + "Lift the cylindrical orange bottle with smooth surface and shake it gently.", + "Lift up the orange bottle with bold labeling using the left arm, then shake.", + "Use the left arm to lift and shake the orange bottle.", + "Hold the smooth orange cylindrical bottle and shake it properly.", + "Grab the smooth orange cylindrical bottle with the left arm and shake.", + "Secure the yellow-capped bottle for beverages and perform a shake.", + "Pick the rounded orange bottle with yellow top up with the left arm and shake.", + "Lift the handheld medium-sized liquid bottle with the left arm and give it a shake.", + "Shake the orange bottle with bold labeling after grabbing it.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Grab the liquid container with orange body and shake it steadily.", + "Shake the liquid container with orange body thoroughly after grabbing it.", + "Shake the the rounded bottom orange plastic bottle properly after lifting.", + "Grasp the yellow-capped orange plastic bottle with the left arm and shake it.", + "Catch the cylindrical orange bottle with smooth surface and shake it instantly.", + "Secure the yellow-capped bottle for beverages, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Use the left arm to grab the smooth orange cylindrical bottle and shake properly.", + "Hold the handheld medium-sized liquid bottle, shake it briefly.", + "Shake the bottle with yellow cap after grabbing it.", + "Hold and shake the the orange bottle carefully.", + "Shake the cylindrical orange bottle with smooth surface after grabbing it.", + "Use the left arm to grab the yellow-capped orange plastic bottle and shake it.", + "Shake the cylindrical orange bottle with smooth surface firmly after grabbing.", + "Grip the bottle with yellow cap using the left arm and shake.", + "Pick the cylindrical orange bottle with smooth surface, shake it with the left arm.", + "Use the left arm to hold the yellow-capped orange plastic bottle and shake it.", + "Grab and shake the orange bottle using the left arm.", + "Shake the liquid container with orange body using the left arm after grabbing.", + "Pick the rounded bottom orange plastic bottle and perform shaking motion.", + "Use the left arm to pick and shake the rounded bottom orange plastic bottle.", + "Grab the orange bottle with bold labeling and move it to shake." + ], + "unseen": [ + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium plastic bottle and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the medium plastic bottle and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the medium plastic bottle and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Pick up the medium plastic bottle and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Shake the medium bottle for liquids after picking it with the left arm.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Use the left arm to pick the medium bottle for liquids.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Grab the medium bottle for liquids and shake it.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Pick up the medium plastic bottle and shake it.", + "Use the left arm to pick the medium plastic bottle.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Pick up the medium bottle for liquids and shake it.", + "Use the left arm to pick the medium bottle for liquids." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode399.json b/shake_bottle/ur5_randomized_500/instructions/episode399.json new file mode 100644 index 0000000000000000000000000000000000000000..b0903416dee08a512d1b60e5ae1dfca6c442056d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode399.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the plastic drink bottle.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Hold the plastic drink bottle, shake it briefly.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Use the left arm to lift and shake the red-capped bottle.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Grab the narrow-necked bottle carefully and shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Take the long thin bottle using the left arm and give it a shake.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Grab and shake the medium dark brown bottle using the left arm.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Grab the long thin bottle with the left arm and shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Pick up the plastic drink bottle and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Pick up the long thin bottle and shake it well.", + "Lift the bottle with white neck and red top and shake it gently.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Grab the plastic drink bottle and shake it steadily.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the long thin bottle after grabbing it.", + "Shake the dark drink bottle with logo after lifting it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Hold the plastic drink bottle, shake it briefly.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Pick the red-capped bottle, shake it with the left arm.", + "Shake the long thin bottle firmly after grabbing.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Grab the hand-sized soda bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Grab and shake the long thin bottle using the left arm.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Secure the long thin bottle and perform a shake.", + "Pick up the narrow-necked bottle and shake it.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Lift the dark drink bottle with logo and shake it gently.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Grasp the long thin bottle with the left arm and shake it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grab the plastic drink bottle and give it a shake.", + "Shake the red-capped bottle after grabbing it.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Shake the red-capped bottle after holding it firmly.", + "Shake the red-capped bottle after grabbing it.", + "Shake the smooth bottle with red lid after lifting it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Hold and shake the the bottle with ridges on bottom carefully." + ], + "unseen": [ + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode4.json b/shake_bottle/ur5_randomized_500/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..1370842ee9f0e7d34455917f90f5d5fb6417ee9b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with tapering neck steady, then shake it.", + "Grab the white bottle for liquids and shake it steadily.", + "Lift the plastic bottle and shake it gently.", + "Pick up the white bottle for liquids and shake it.", + "Grab and shake the medium-sized bottle using the left arm.", + "Shake the bottle with tapering neck after lifting it.", + "Secure the medium-sized bottle and perform a shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Pick the white cylindrical bottle, shake it with the left arm.", + "Catch the bottle with orange screw cap and shake it instantly.", + "Grab the white bottle with red text and move it to shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Take the bottle with tapering neck using the left arm and give it a shake.", + "Lift the white cylindrical bottle with the left arm and shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Hold the bottle with orange screw cap, shake it briefly.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Secure the bottle with orange screw cap, shake it, and place it down.", + "Use the left arm to grab the white bottle and shake it.", + "Grasp the white bottle with the left arm and shake it.", + "Pick the bottle with tapering neck up using the left arm and shake it.", + "Use the left arm to hold the white cylindrical bottle and shake it.", + "Pick the medium-sized bottle and perform shaking motion.", + "Pick up the medium-sized bottle and shake it well.", + "Shake the white bottle with red text thoroughly after grabbing it.", + "Shake the white cylindrical bottle after grabbing it.", + "Hold the handheld white bottle with cap and shake it properly.", + "With the left arm, pick the white bottle and shake properly.", + "Shake the white bottle for liquids firmly after grabbing.", + "Use the left arm to pick and shake the white bottle with red text.", + "Shake the handheld white bottle with cap using the left arm after grabbing.", + "Utilize the left arm to hold the bottle with orange screw cap and shake it.", + "Use the left arm to grab the white bottle for liquids and shake properly.", + "Shake the the white cylindrical bottle properly after lifting.", + "Grab the white bottle for liquids with the left arm and shake.", + "Using the left arm, shake the white bottle with orange lid and then place it back.", + "Grip the white bottle for liquids using the left arm and shake.", + "Lift the white cylindrical bottle with the left arm and shake.", + "Shake the handheld white bottle with cap after grabbing it.", + "Shake the bottle with orange screw cap after grabbing it.", + "Use the left arm to lift and shake the white bottle.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold and shake the the white bottle carefully.", + "Grab the white bottle for liquids carefully and shake.", + "Use the left arm to lift and shake the white bottle with red text.", + "Grab the bottle with tapering neck firmly, shake it, and put it down.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Grab the bottle with orange screw cap and give it a shake.", + "Shake the white cylindrical bottle after holding it firmly.", + "Hold the handheld white bottle with cap steady, then shake it.", + "Grab the bottle with orange screw cap and shake it steadily.", + "Lift the handheld white bottle with cap and shake it gently.", + "Pick up the bottle with orange screw cap and shake it.", + "Grab and shake the white bottle with orange lid using the left arm.", + "Shake the white bottle with orange lid after lifting it.", + "Secure the white bottle with red text and perform a shake.", + "Hold the white bottle with red text with the left arm and shake lightly.", + "Pick the smooth bottle, shake it with the left arm.", + "Catch the white bottle with red text and shake it instantly.", + "Grab the handheld white bottle with cap and move it to shake.", + "Use the left arm to lift and shake the white bottle.", + "Take the white bottle for liquids using the left arm and give it a shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Grab the handheld white bottle with cap using the left arm, then shake.", + "Hold the bottle with orange screw cap, shake it briefly.", + "Lift the bottle with tapering neck with the left arm and give it a shake.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Secure the white bottle with orange lid, shake it, and place it down.", + "Use the left arm to grab the white cylindrical bottle and shake it.", + "Grasp the handheld white bottle with cap with the left arm and shake it.", + "Pick the handheld white bottle with cap up using the left arm and shake it.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Pick the white bottle with red text and perform shaking motion.", + "Pick up the bottle with orange screw cap and shake it well.", + "Shake the white bottle with red text thoroughly after grabbing it.", + "Shake the smooth bottle after grabbing it.", + "Hold the white bottle with orange lid and shake it properly.", + "With the left arm, pick the white cylindrical bottle and shake properly.", + "Shake the plastic bottle firmly after grabbing.", + "Use the left arm to pick and shake the bottle with tapering neck.", + "Shake the plastic bottle using the left arm after grabbing.", + "Utilize the left arm to hold the white bottle for liquids and shake it.", + "Use the left arm to grab the white bottle for liquids and shake properly.", + "Shake the the white bottle with red text properly after lifting.", + "Grab the white bottle with the left arm and shake.", + "Using the left arm, shake the cylindrical bottle with red writing and then place it back.", + "Grip the white cylindrical bottle using the left arm and shake.", + "Lift the smooth bottle with the left arm and shake.", + "Shake the bottle with orange screw cap after grabbing it.", + "Shake the bottle with orange screw cap after grabbing it.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "Lift the cylindrical bottle with red writing and shake it thoroughly.", + "Hold and shake the the smooth bottle carefully.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to lift and shake the white bottle with red text.", + "Grab the bottle with orange screw cap firmly, shake it, and put it down.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Grab the white bottle and give it a shake.", + "Shake the handheld white bottle with cap after holding it firmly." + ], + "unseen": [ + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the plastic bottle with printed label and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the bottle with orange cap and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the plastic bottle with printed label and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Grab the bottle with glossy surface and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the left arm to pick the bottle with orange cap.", + "Grab the bottle with orange cap and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the bottle with glossy surface and shake it.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the left arm to pick the bottle with orange cap.", + "Grab the bottle with orange cap and shake it.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the plastic bottle with printed label and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the bottle with glossy surface and shake it.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the plastic bottle with printed label and shake it.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode40.json b/shake_bottle/ur5_randomized_500/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..aa5acc5ac60984d7afac56772d74f6c202b3eaa7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the cylindrical bottle after grabbing it.", + "Shake the white and blue bottle after grabbing it.", + "Grip the blue bottle using the left arm and shake.", + "Use the left arm to hold the bottle with blue cap and shake it.", + "Using the left arm, shake the medium bottle for beverages and then place it back.", + "Grab the plastic bottle using the left arm, then shake.", + "Hold and shake the the plastic bottle carefully.", + "Pick the white and blue bottle and perform shaking motion.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Pick up the white and blue bottle and shake it well.", + "Shake the medium-sized bottle after holding it firmly.", + "Lift the plastic bottle with the left arm and shake it.", + "Lift up the blue bottle using the left arm, then shake.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Grab the blue bottle and shake it steadily.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold the bottle with blue cap, shake it briefly.", + "Take the medium-sized bottle using the left arm and give it a shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the medium bottle for beverages firmly after grabbing.", + "Lift the handheld bottle with the left arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Catch the medium bottle for beverages and shake it instantly.", + "Grab and shake the blue bottle using the left arm.", + "Pick the bottle for liquids up with the left arm and shake.", + "Grab the bottle with blue cap and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the blue bottle and shake it properly.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Grab the medium bottle for beverages and move it to shake.", + "Pick the white bottle with blue accents up using the left arm and shake it.", + "Shake the cylindrical bottle after lifting it.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Hold the medium bottle for beverages steady, then shake it.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Secure the blue bottle with label and perform a shake.", + "Secure the handheld bottle, shake it, and place it down.", + "Shake the plastic bottle using the left arm after grabbing.", + "Pick the bottle for liquids, shake it with the left arm.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Lift the bottle for liquids and shake it thoroughly.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Grab the plastic bottle with the left arm and shake.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Lift the blue bottle with label with the left arm and give it a shake.", + "Pick up the white and blue bottle and shake it.", + "Shake the the white and blue bottle properly after lifting.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Grab the bottle for liquids carefully and shake.", + "Shake the blue bottle after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Grip the blue bottle using the left arm and shake.", + "Use the left arm to hold the blue bottle and shake it.", + "Using the left arm, shake the medium bottle for beverages and then place it back.", + "Grab the handheld bottle using the left arm, then shake.", + "Hold and shake the the bottle with blue cap carefully.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Hold the blue bottle with label with the left arm and shake lightly.", + "Pick up the plastic bottle and shake it well.", + "Shake the handheld bottle after holding it firmly.", + "Lift the white and blue bottle with the left arm and shake it.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Grab the white and blue bottle and shake it steadily.", + "Grasp the blue bottle with label with the left arm and shake it.", + "Grab the bottle with blue cap firmly, shake it, and put it down.", + "Hold the bottle for liquids, shake it briefly.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Shake the cylindrical bottle after grabbing it.", + "Shake the handheld bottle firmly after grabbing.", + "Lift the medium-sized bottle with the left arm and shake.", + "Lift the blue bottle with label and shake it gently.", + "Catch the plastic bottle and shake it instantly.", + "Grab and shake the bottle with blue cap using the left arm.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Grab the cylindrical bottle and give it a shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Hold the smooth plastic bottle and shake it properly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the medium-sized bottle and move it to shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the bottle for liquids after lifting it.", + "Use the left arm to lift and shake the white and blue bottle.", + "Hold the medium-sized bottle steady, then shake it.", + "Utilize the left arm to hold the bottle for liquids and shake it.", + "Secure the blue bottle with label and perform a shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the white bottle with blue accents using the left arm after grabbing.", + "Pick the blue bottle, shake it with the left arm.", + "Use the left arm to lift and shake the blue bottle with label.", + "Lift the white and blue bottle and shake it thoroughly.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Shake the blue bottle thoroughly after grabbing it.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Pick up the bottle with blue cap and shake it.", + "Shake the the white and blue bottle properly after lifting.", + "Use the left arm to pick and shake the handheld bottle.", + "Grab the medium-sized bottle carefully and shake." + ], + "unseen": [ + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode400.json b/shake_bottle/ur5_randomized_500/instructions/episode400.json new file mode 100644 index 0000000000000000000000000000000000000000..3e82d203fa563a2a67c0eb13dc4b5db8432c5fc9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode400.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium bottle with colorful label after grabbing it.", + "Pick the orange drink bottle with label and perform shaking motion.", + "Take the orange bottle using the right arm and give it a shake.", + "Grab the smooth orange bottle carefully and shake.", + "Grab the plastic bottle with the right arm and shake.", + "Catch the orange drink bottle with label and shake it instantly.", + "Pick the round-bottom bottle with white cap up with the right arm and shake.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Shake the cylindrical orange plastic bottle using the right arm after grabbing.", + "Hold and shake the the cylindrical orange plastic bottle carefully.", + "Use the right arm to pick and shake the bottle for holding drinks.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Grab the bottle for holding drinks and give it a shake.", + "Pick the curved orange soda bottle up using the right arm and shake it.", + "Shake the curved orange soda bottle after grabbing it.", + "Hold the orange bottle and shake it properly.", + "Use the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Using the right arm, shake the curved orange soda bottle and then place it back.", + "Grasp the smooth orange bottle with the right arm and shake it.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Lift the orange drink bottle with label and shake it gently.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Use the right arm to grab the medium bottle with colorful label and shake properly.", + "Pick up the bottle for holding drinks and shake it.", + "Lift the round-bottom bottle with white cap with the right arm and shake.", + "Grab the ridged orange bottle with grooves using the right arm, then shake.", + "Grip the bottle for holding drinks using the right arm and shake.", + "Pick the orange bottle, shake it with the right arm.", + "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Shake the orange bottle firmly after grabbing.", + "Grab and shake the light and medium-sized bottle using the right arm.", + "Grab the cylindrical orange plastic bottle and shake it steadily.", + "Shake the the light and medium-sized bottle properly after lifting.", + "Pick up the grooved orange drink bottle and shake it well.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Grab the orange drink bottle with label firmly, shake it, and put it down.", + "Lift up the medium bottle with colorful label using the right arm, then shake.", + "Lift the ridged orange bottle with grooves with the right arm and shake it.", + "Use the right arm to lift and shake the curved orange soda bottle.", + "Use the right arm to lift and shake the orange bottle.", + "Hold the plastic bottle, shake it briefly.", + "Shake the curved orange soda bottle after lifting it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Shake the orange bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the bottle for holding drinks and shake it.", + "With the right arm, pick the bottle for holding drinks and shake properly.", + "Shake the orange bottle after holding it firmly.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Take the cylindrical orange plastic bottle using the right arm and give it a shake.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Grab the orange bottle with the right arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Pick the orange drink bottle with label up with the right arm and shake.", + "Secure the ridged orange bottle with grooves and perform a shake.", + "Shake the smooth orange bottle using the right arm after grabbing.", + "Hold and shake the the orange bottle carefully.", + "Use the right arm to pick and shake the light and medium-sized bottle.", + "Hold the grooved orange drink bottle with the right arm and shake lightly.", + "Grab the plastic bottle and give it a shake.", + "Pick the medium bottle with colorful label up using the right arm and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Hold the curved orange soda bottle and shake it properly.", + "Use the right arm to hold the medium bottle with colorful label and shake it.", + "Shake the bottle for holding drinks after grabbing it.", + "Using the right arm, shake the grooved orange drink bottle and then place it back.", + "Grasp the smooth orange bottle with the right arm and shake it.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Lift the curved orange soda bottle and shake it gently.", + "Use the right arm to lift and shake the medium bottle with colorful label.", + "Use the right arm to grab the round-bottom bottle with white cap and shake properly.", + "Pick up the smooth orange bottle and shake it.", + "Lift the bottle for holding drinks with the right arm and shake.", + "Grab the light and medium-sized bottle using the right arm, then shake.", + "Grip the smooth orange bottle using the right arm and shake.", + "Pick the round-bottom bottle with white cap, shake it with the right arm.", + "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Grab and shake the plastic bottle using the right arm.", + "Grab the orange drink bottle with label and shake it steadily.", + "Shake the the curved orange soda bottle properly after lifting.", + "Pick up the orange drink bottle with label and shake it well.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Grab the light and medium-sized bottle firmly, shake it, and put it down.", + "Lift up the orange bottle using the right arm, then shake.", + "Lift the smooth orange bottle with the right arm and shake it.", + "Use the right arm to lift and shake the orange bottle.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Hold the plastic bottle, shake it briefly.", + "Shake the orange drink bottle with label after lifting it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Utilize the right arm to hold the light and medium-sized bottle and shake it.", + "With the right arm, pick the curved orange soda bottle and shake properly.", + "Shake the plastic bottle after holding it firmly.", + "Hold the ridged orange bottle with grooves steady, then shake it." + ], + "unseen": [ + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode401.json b/shake_bottle/ur5_randomized_500/instructions/episode401.json new file mode 100644 index 0000000000000000000000000000000000000000..df8277333c1eb4ceebdc6a6ca295c911524a7a79 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode401.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic bottle, shake it briefly.", + "Shake the orange drink bottle with label using the right arm after grabbing.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick up the grooved orange drink bottle and shake it.", + "Secure the orange drink bottle with label and perform a shake.", + "Grab the orange drink bottle with label and shake it steadily.", + "Using the right arm, shake the round-bottom bottle with white cap and then place it back.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the grooved orange drink bottle after lifting it.", + "Pick the cylindrical orange plastic bottle up with the right arm and shake.", + "Lift the smooth orange bottle with the right arm and shake.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Pick the medium bottle with colorful label, shake it with the right arm.", + "Hold the smooth orange bottle steady, then shake it.", + "Lift up the smooth orange bottle using the right arm, then shake.", + "Shake the orange drink bottle with label after grabbing it.", + "Grab the medium bottle with colorful label using the right arm, then shake.", + "Use the right arm to grab the round-bottom bottle with white cap and shake it.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Grab and shake the grooved orange drink bottle using the right arm.", + "Grasp the bottle for holding drinks with the right arm and shake it.", + "Take the light and medium-sized bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the light and medium-sized bottle.", + "Lift the smooth orange bottle with the right arm and shake it.", + "Grip the bottle for holding drinks using the right arm and shake.", + "Grab the light and medium-sized bottle with the right arm and shake.", + "Utilize the right arm to hold the round-bottom bottle with white cap and shake it.", + "Use the right arm to lift and shake the light and medium-sized bottle.", + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Hold and shake the the orange drink bottle with label carefully.", + "With the right arm, pick the cylindrical orange plastic bottle and shake properly.", + "Lift the smooth orange bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Hold the curved orange soda bottle with the right arm and shake lightly.", + "Lift the curved orange soda bottle and shake it gently.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Shake the grooved orange drink bottle after grabbing it.", + "Shake the medium bottle with colorful label after grabbing it.", + "Secure the orange bottle, shake it, and place it down.", + "Grab the light and medium-sized bottle and give it a shake.", + "Pick the medium bottle with colorful label and perform shaking motion.", + "Shake the bottle for holding drinks after holding it firmly.", + "Pick up the plastic bottle and shake it well.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Use the right arm to hold the round-bottom bottle with white cap and shake it.", + "Grab the round-bottom bottle with white cap and move it to shake.", + "Hold the grooved orange drink bottle and shake it properly.", + "Pick the curved orange soda bottle up using the right arm and shake it.", + "Use the right arm to grab the medium bottle with colorful label and shake properly.", + "Hold the light and medium-sized bottle, shake it briefly.", + "Shake the medium bottle with colorful label using the right arm after grabbing.", + "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.", + "Pick up the bottle for holding drinks and shake it.", + "Secure the medium bottle with colorful label and perform a shake.", + "Grab the orange drink bottle with label and shake it steadily.", + "Using the right arm, shake the light and medium-sized bottle and then place it back.", + "Lift the orange bottle and shake it thoroughly.", + "Shake the curved orange soda bottle after lifting it.", + "Pick the orange bottle up with the right arm and shake.", + "Lift the bottle for holding drinks with the right arm and shake.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Pick the plastic bottle, shake it with the right arm.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Grab the curved orange soda bottle using the right arm, then shake.", + "Use the right arm to grab the grooved orange drink bottle and shake it.", + "Catch the bottle for holding drinks and shake it instantly.", + "Grab and shake the medium bottle with colorful label using the right arm.", + "Grasp the grooved orange drink bottle with the right arm and shake it.", + "Take the round-bottom bottle with white cap using the right arm and give it a shake.", + "Use the right arm to pick and shake the round-bottom bottle with white cap.", + "Lift the smooth orange bottle with the right arm and shake it.", + "Grip the orange drink bottle with label using the right arm and shake.", + "Grab the orange drink bottle with label with the right arm and shake.", + "Utilize the right arm to hold the orange bottle and shake it.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Grab the grooved orange drink bottle carefully and shake.", + "Hold and shake the the smooth orange bottle carefully.", + "With the right arm, pick the medium bottle with colorful label and shake properly.", + "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Shake the smooth orange bottle thoroughly after grabbing it.", + "Hold the cylindrical orange plastic bottle with the right arm and shake lightly.", + "Lift the grooved orange drink bottle and shake it gently.", + "Shake the the plastic bottle properly after lifting.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Grab the cylindrical orange plastic bottle and give it a shake.", + "Pick the cylindrical orange plastic bottle and perform shaking motion.", + "Shake the curved orange soda bottle after holding it firmly.", + "Pick up the orange drink bottle with label and shake it well.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Use the right arm to hold the smooth orange bottle and shake it.", + "Grab the orange drink bottle with label and move it to shake.", + "Hold the cylindrical orange plastic bottle and shake it properly.", + "Pick the light and medium-sized bottle up using the right arm and shake it.", + "Use the right arm to grab the smooth orange bottle and shake properly." + ], + "unseen": [ + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with white cap after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode402.json b/shake_bottle/ur5_randomized_500/instructions/episode402.json new file mode 100644 index 0000000000000000000000000000000000000000..80d96b3988bb8159102751919ffffa5059a7ab3c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode402.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the cylindrical orange plastic bottle, shake it with the right arm.", + "Use the right arm to pick and shake the cylindrical orange plastic bottle.", + "Use the right arm to grab the orange drink bottle with label and shake it.", + "Use the right arm to hold the bottle for holding drinks and shake it.", + "Lift up the curved orange soda bottle using the right arm, then shake.", + "Grab the cylindrical orange plastic bottle and give it a shake.", + "Utilize the right arm to hold the bottle for holding drinks and shake it.", + "Lift the bottle for holding drinks with the right arm and shake.", + "Grab the round-bottom bottle with white cap with the right arm and shake.", + "Grab the grooved orange drink bottle and move it to shake.", + "Hold and shake the the orange drink bottle with label carefully.", + "Hold the curved orange soda bottle steady, then shake it.", + "Shake the the orange drink bottle with label properly after lifting.", + "Pick the grooved orange drink bottle up with the right arm and shake.", + "Grab and shake the curved orange soda bottle using the right arm.", + "Grab the medium bottle with colorful label carefully and shake.", + "Pick the orange bottle up using the right arm and shake it.", + "Pick up the medium bottle with colorful label and shake it.", + "Grab the orange bottle and shake it steadily.", + "Shake the cylindrical orange plastic bottle after holding it firmly.", + "Grasp the grooved orange drink bottle with the right arm and shake it.", + "Secure the light and medium-sized bottle and perform a shake.", + "Grip the bottle for holding drinks using the right arm and shake.", + "Lift the orange bottle with the right arm and give it a shake.", + "Hold the curved orange soda bottle and shake it properly.", + "Shake the grooved orange drink bottle after grabbing it.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the smooth orange bottle with the right arm and shake it.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Lift the smooth orange bottle and shake it gently.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Use the right arm to grab the light and medium-sized bottle and shake properly.", + "Catch the medium bottle with colorful label and shake it instantly.", + "Use the right arm to lift and shake the orange bottle.", + "Pick the curved orange soda bottle and perform shaking motion.", + "Using the right arm, shake the orange drink bottle with label and then place it back.", + "Pick up the medium bottle with colorful label and shake it well.", + "Grab the medium bottle with colorful label using the right arm, then shake.", + "Take the grooved orange drink bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Shake the curved orange soda bottle thoroughly after grabbing it.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Shake the smooth orange bottle after grabbing it.", + "Shake the orange drink bottle with label using the right arm after grabbing.", + "Hold the plastic bottle, shake it briefly.", + "Shake the light and medium-sized bottle after lifting it.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Hold the grooved orange drink bottle with the right arm and shake lightly.", + "With the right arm, pick the orange drink bottle with label and shake properly.", + "Lift the cylindrical orange plastic bottle and shake it thoroughly.", + "Pick the orange drink bottle with label, shake it with the right arm.", + "Use the right arm to pick and shake the smooth orange bottle.", + "Use the right arm to grab the cylindrical orange plastic bottle and shake it.", + "Use the right arm to hold the light and medium-sized bottle and shake it.", + "Lift up the medium bottle with colorful label using the right arm, then shake.", + "Grab the orange drink bottle with label and give it a shake.", + "Utilize the right arm to hold the light and medium-sized bottle and shake it.", + "Lift the orange bottle with the right arm and shake.", + "Grab the curved orange soda bottle with the right arm and shake.", + "Grab the ridged orange bottle with grooves and move it to shake.", + "Hold and shake the the light and medium-sized bottle carefully.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Shake the the bottle for holding drinks properly after lifting.", + "Pick the orange drink bottle with label up with the right arm and shake.", + "Grab and shake the medium bottle with colorful label using the right arm.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Pick the ridged orange bottle with grooves up using the right arm and shake it.", + "Pick up the orange drink bottle with label and shake it.", + "Grab the smooth orange bottle and shake it steadily.", + "Shake the orange bottle after holding it firmly.", + "Grasp the medium bottle with colorful label with the right arm and shake it.", + "Secure the light and medium-sized bottle and perform a shake.", + "Grip the grooved orange drink bottle using the right arm and shake.", + "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.", + "Hold the curved orange soda bottle and shake it properly.", + "Shake the curved orange soda bottle after grabbing it.", + "Shake the orange bottle firmly after grabbing.", + "Lift the round-bottom bottle with white cap with the right arm and shake it.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Lift the cylindrical orange plastic bottle and shake it gently.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Use the right arm to grab the cylindrical orange plastic bottle and shake properly.", + "Catch the medium bottle with colorful label and shake it instantly.", + "Use the right arm to lift and shake the orange bottle.", + "Pick the smooth orange bottle and perform shaking motion.", + "Using the right arm, shake the light and medium-sized bottle and then place it back.", + "Pick up the round-bottom bottle with white cap and shake it well.", + "Grab the round-bottom bottle with white cap using the right arm, then shake.", + "Take the smooth orange bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Shake the grooved orange drink bottle using the right arm after grabbing.", + "Hold the round-bottom bottle with white cap, shake it briefly.", + "Shake the ridged orange bottle with grooves after lifting it.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Hold the light and medium-sized bottle with the right arm and shake lightly.", + "With the right arm, pick the bottle for holding drinks and shake properly.", + "Lift the grooved orange drink bottle and shake it thoroughly." + ], + "unseen": [ + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Pick up the bottle with white cap with the right arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode403.json b/shake_bottle/ur5_randomized_500/instructions/episode403.json new file mode 100644 index 0000000000000000000000000000000000000000..09330ae6faa538b26ad71665e4126727f32907e5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode403.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with green and white label, shake it briefly.", + "Pick the handheld bottle and perform shaking motion.", + "Use the left arm to pick and shake the bottle with green and white label.", + "Shake the bottle with white cap after holding it firmly.", + "Utilize the left arm to hold the smooth yellow plastic bottle and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the bottle with white cap after grabbing it.", + "Grab the yellow bottle with cylindrical cap using the left arm, then shake.", + "Shake the yellow bottle with green label using the left arm after grabbing.", + "Pick up the yellow body bottle and shake it.", + "Hold the yellow body bottle steady, then shake it.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Take the handheld bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the rectangular bottle after grabbing it.", + "Shake the yellow bottle with green label thoroughly after grabbing it.", + "Grab the bottle for liquids and move it to shake.", + "Pick up the yellow bottle with flower design and shake it well.", + "Grab the yellow bottle with flower design and shake it steadily.", + "Catch the bottle with white cap and shake it instantly.", + "Grip the yellow bottle using the left arm and shake.", + "Lift the yellow bottle and shake it gently.", + "With the left arm, pick the smooth yellow plastic bottle and shake properly.", + "Pick the bottle with white cap, shake it with the left arm.", + "Shake the yellow bottle with flower design firmly after grabbing.", + "Lift the bottle with green and white label with the left arm and give it a shake.", + "Pick the yellow bottle up with the left arm and shake.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Grab the rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow bottle with cylindrical cap and shake properly.", + "Grasp the yellow body bottle with the left arm and shake it.", + "Use the left arm to hold the handheld bottle and shake it.", + "Shake the the yellow bottle with green label properly after lifting.", + "Grab the handheld bottle and give it a shake.", + "Lift the handheld bottle with the left arm and shake.", + "Pick the yellow bottle up using the left arm and shake it.", + "Hold and shake the the yellow bottle with flower design carefully.", + "Grab and shake the rectangular bottle using the left arm.", + "Use the left arm to lift and shake the yellow body bottle.", + "Use the left arm to lift and shake the yellow bottle with flower design.", + "Shake the smooth yellow plastic bottle after lifting it.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Grab the rectangular bottle carefully and shake.", + "Lift the yellow bottle with flower design with the left arm and shake it.", + "Use the left arm to grab the yellow bottle with flower design and shake it.", + "Hold the rectangular bottle and shake it properly.", + "Secure the yellow bottle with flower design, shake it, and place it down.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Secure the bottle with green and white label and perform a shake.", + "Shake the plastic bottle after grabbing it.", + "Hold the handheld bottle, shake it briefly.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to pick and shake the smooth yellow plastic bottle.", + "Shake the bottle with white cap after holding it firmly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Lift the yellow bottle with green label and shake it thoroughly.", + "Shake the smooth yellow plastic bottle after grabbing it.", + "Grab the bottle with green and white label using the left arm, then shake.", + "Shake the yellow bottle using the left arm after grabbing.", + "Pick up the yellow body bottle and shake it.", + "Hold the yellow body bottle steady, then shake it.", + "Hold the yellow bottle with cylindrical cap with the left arm and shake lightly.", + "Take the yellow body bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow bottle with green label.", + "Shake the plastic bottle after grabbing it.", + "Shake the yellow bottle with green label thoroughly after grabbing it.", + "Grab the bottle with green and white label and move it to shake.", + "Pick up the smooth yellow plastic bottle and shake it well.", + "Grab the yellow bottle with green label and shake it steadily.", + "Catch the yellow body bottle and shake it instantly.", + "Grip the yellow bottle using the left arm and shake.", + "Lift the bottle with white cap and shake it gently.", + "With the left arm, pick the handheld bottle and shake properly.", + "Pick the handheld bottle, shake it with the left arm.", + "Shake the bottle with white cap firmly after grabbing.", + "Lift the rectangular bottle with the left arm and give it a shake.", + "Pick the yellow bottle with green label up with the left arm and shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the yellow bottle with flower design with the left arm and shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grasp the yellow bottle with flower design with the left arm and shake it.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Grab the yellow body bottle and give it a shake.", + "Lift the smooth yellow plastic bottle with the left arm and shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Hold and shake the the bottle with white cap carefully.", + "Grab and shake the yellow bottle with green label using the left arm.", + "Use the left arm to lift and shake the bottle with green and white label.", + "Use the left arm to lift and shake the yellow bottle.", + "Shake the bottle for liquids after lifting it.", + "Lift up the yellow bottle with green label using the left arm, then shake.", + "Grab the rectangular bottle carefully and shake.", + "Lift the bottle with green and white label with the left arm and shake it.", + "Use the left arm to grab the bottle with green and white label and shake it.", + "Hold the bottle with green and white label and shake it properly.", + "Secure the rectangular bottle, shake it, and place it down.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Secure the yellow bottle and perform a shake.", + "Shake the bottle with green and white label after grabbing it." + ], + "unseen": [ + "Use the left arm to pick the bottle with printed label.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the medium bottle with the left arm and shake.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the left arm to pick the bottle with rounded edges.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Grab the bottle with printed label and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Grab the medium bottle and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the bottle with printed label and shake it.", + "Use the left arm to pick the medium bottle.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the medium bottle with the left arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Grab the bottle with printed label and give it a shake.", + "Pick up the medium bottle and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the left arm to pick the medium bottle.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the bottle with printed label with the left arm and shake.", + "Grab the bottle with printed label and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Use the left arm to pick the bottle with rounded edges.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the bottle with printed label with the left arm and shake.", + "Grab the medium bottle and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick and shake the the medium bottle with the left arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the medium bottle and shake it.", + "Use the left arm to pick the bottle with printed label.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the medium bottle with the left arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with printed label and shake.", + "Pick and shake the the medium bottle with the left arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the left arm to pick the bottle with rounded edges.", + "Shake the medium bottle after picking it with the left arm.", + "Pick up the bottle with printed label with the left arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Use the left arm to grab the bottle with printed label and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with rounded edges and shake it.", + "Pick up the bottle with printed label and shake it.", + "Use the left arm to pick the bottle with printed label.", + "Shake the medium bottle after picking it with the left arm.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Grab the medium bottle and give it a shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Use the left arm to pick the bottle with printed label.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the bottle with printed label with the left arm and shake.", + "Grab the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick and shake the the bottle with printed label with the left arm.", + "Grab the medium bottle and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick up the medium bottle and shake it.", + "Use the left arm to pick the bottle with rounded edges.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the bottle with printed label with the left arm and shake.", + "Grab the bottle with rounded edges and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the medium bottle and shake.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Grab the bottle with printed label and give it a shake.", + "Pick up the medium bottle and shake it.", + "Pick up the medium bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode404.json b/shake_bottle/ur5_randomized_500/instructions/episode404.json new file mode 100644 index 0000000000000000000000000000000000000000..38bb8bdf69416526d8e817bf270b2b6842244da0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode404.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the brown bottle with white printed label and give it a shake.", + "Lift the brown bottle with green screw-on cap with the left arm and shake it.", + "Grab the smooth plastic bottle for beverages and shake it steadily.", + "Secure the smooth plastic bottle for beverages and perform a shake.", + "Take the hand-sized bottle with grooves using the left arm and give it a shake.", + "Grab and shake the small drink bottle with logo using the left arm.", + "Grab the brown bottle firmly, shake it, and put it down.", + "Use the left arm to pick and shake the smooth plastic bottle for beverages.", + "Lift the green-capped bottle with the left arm and shake.", + "Shake the small drink bottle with logo after lifting it.", + "Using the left arm, shake the smooth plastic bottle for beverages and then place it back.", + "Shake the small brown plastic bottle firmly after grabbing.", + "Grab the small drink bottle with logo using the left arm, then shake.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Secure the plastic bottle with ribbed pattern, shake it, and place it down.", + "Use the left arm to lift and shake the brown bottle.", + "Shake the the bottle with tapered cylindrical shape properly after lifting.", + "Pick the brown bottle with white printed label, shake it with the left arm.", + "Grasp the cylindrical bottle with white label with the left arm and shake it.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Grab the brown bottle with green screw-on cap with the left arm and shake.", + "Utilize the left arm to hold the small brown plastic bottle and shake it.", + "Hold the brown bottle with green screw-on cap, shake it briefly.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Pick the bottle with green cap and perform shaking motion.", + "Shake the plastic bottle with ribbed pattern after holding it firmly.", + "Hold the brown bottle with the left arm and shake lightly.", + "Use the left arm to hold the plastic bottle with ribbed pattern and shake it.", + "Use the left arm to grab the brown bottle and shake it.", + "Lift the smooth plastic bottle for beverages and shake it gently.", + "Lift up the hand-sized bottle with grooves using the left arm, then shake.", + "Grab the small brown plastic bottle and move it to shake.", + "Hold and shake the the bottle with tapered cylindrical shape carefully.", + "With the left arm, pick the small drink bottle with logo and shake properly.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Hold the green-capped bottle and shake it properly.", + "Hold the small brown plastic bottle steady, then shake it.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Shake the hand-sized bottle with grooves thoroughly after grabbing it.", + "Pick up the brown bottle with white printed label and shake it well.", + "Lift the cylindrical bottle with white label with the left arm and give it a shake.", + "Pick the smooth plastic bottle for beverages up with the left arm and shake.", + "Pick up the brown bottle with green screw-on cap and shake it.", + "Catch the bottle with green cap and shake it instantly.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Shake the small drink bottle with logo after grabbing it.", + "Pick the brown bottle with white printed label up using the left arm and shake it.", + "Grip the brown bottle using the left arm and shake.", + "Use the left arm to grab the smooth plastic bottle for beverages and shake properly.", + "Shake the cylindrical bottle with white label using the left arm after grabbing.", + "Grab the plastic bottle with ribbed pattern and give it a shake.", + "Lift the brown bottle with the left arm and shake it.", + "Grab the brown bottle with white printed label and shake it steadily.", + "Secure the bottle with green cap and perform a shake.", + "Take the small brown plastic bottle using the left arm and give it a shake.", + "Grab and shake the small drink bottle with logo using the left arm.", + "Grab the bottle with tapered cylindrical shape firmly, shake it, and put it down.", + "Use the left arm to pick and shake the bottle with tapered cylindrical shape.", + "Lift the plastic bottle with ribbed pattern with the left arm and shake.", + "Shake the hand-sized bottle with grooves after lifting it.", + "Using the left arm, shake the small brown plastic bottle and then place it back.", + "Shake the smooth plastic bottle for beverages firmly after grabbing.", + "Grab the cylindrical bottle with white label using the left arm, then shake.", + "Use the left arm to lift and shake the cylindrical bottle with white label.", + "Secure the brown bottle with white printed label, shake it, and place it down.", + "Use the left arm to lift and shake the small drink bottle with logo.", + "Shake the the smooth plastic bottle for beverages properly after lifting.", + "Pick the plastic bottle with ribbed pattern, shake it with the left arm.", + "Grasp the brown bottle with white printed label with the left arm and shake it.", + "Lift the brown bottle with white printed label and shake it thoroughly.", + "Grab the cylindrical bottle with white label with the left arm and shake.", + "Utilize the left arm to hold the small drink bottle with logo and shake it.", + "Hold the bottle with green cap, shake it briefly.", + "Grab the bottle with tapered cylindrical shape carefully and shake.", + "Pick the brown bottle and perform shaking motion.", + "Shake the smooth plastic bottle for beverages after holding it firmly.", + "Hold the smooth plastic bottle for beverages with the left arm and shake lightly.", + "Use the left arm to hold the small drink bottle with logo and shake it.", + "Use the left arm to grab the small drink bottle with logo and shake it.", + "Lift the hand-sized bottle with grooves and shake it gently.", + "Lift up the bottle with green cap using the left arm, then shake.", + "Grab the bottle with tapered cylindrical shape and move it to shake.", + "Hold and shake the the brown bottle carefully.", + "With the left arm, pick the small drink bottle with logo and shake properly.", + "Shake the small brown plastic bottle after grabbing it.", + "Hold the brown bottle and shake it properly.", + "Hold the hand-sized bottle with grooves steady, then shake it.", + "Shake the brown bottle with white printed label after grabbing it.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Pick up the smooth plastic bottle for beverages and shake it well.", + "Lift the brown bottle with white printed label with the left arm and give it a shake.", + "Pick the bottle with tapered cylindrical shape up with the left arm and shake.", + "Pick up the brown bottle with white printed label and shake it.", + "Catch the brown bottle and shake it instantly.", + "Use the left arm to lift and shake the plastic bottle with ribbed pattern.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Pick the brown bottle with white printed label up using the left arm and shake it.", + "Grip the small brown plastic bottle using the left arm and shake.", + "Use the left arm to grab the small drink bottle with logo and shake properly.", + "Shake the bottle with green cap using the left arm after grabbing." + ], + "unseen": [ + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the plastic Starbucks bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode405.json b/shake_bottle/ur5_randomized_500/instructions/episode405.json new file mode 100644 index 0000000000000000000000000000000000000000..77271d6088493edcf05f00cb1a330c2a6636ce94 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode405.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the light and medium-sized bottle with the right arm and shake lightly.", + "Shake the plastic bottle using the right arm after grabbing.", + "Hold the light and medium-sized bottle, shake it briefly.", + "Pick the curved orange soda bottle, shake it with the right arm.", + "Utilize the right arm to hold the grooved orange drink bottle and shake it.", + "Secure the plastic bottle and perform a shake.", + "Shake the the light and medium-sized bottle properly after lifting.", + "Lift up the light and medium-sized bottle using the right arm, then shake.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Grab the bottle for holding drinks using the right arm, then shake.", + "Shake the curved orange soda bottle after grabbing it.", + "Pick up the plastic bottle and shake it well.", + "Lift the plastic bottle with the right arm and shake.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Use the right arm to grab the grooved orange drink bottle and shake properly.", + "Shake the medium bottle with colorful label thoroughly after grabbing it.", + "Pick up the plastic bottle and shake it.", + "With the right arm, pick the medium bottle with colorful label and shake properly.", + "Grab the light and medium-sized bottle with the right arm and shake.", + "Hold the light and medium-sized bottle steady, then shake it.", + "Grab the plastic bottle and give it a shake.", + "Shake the bottle for holding drinks after lifting it.", + "Take the bottle for holding drinks using the right arm and give it a shake.", + "Use the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Pick the cylindrical orange plastic bottle up with the right arm and shake.", + "Grab the curved orange soda bottle carefully and shake.", + "Lift the smooth orange bottle with the right arm and give it a shake.", + "Lift the cylindrical orange plastic bottle and shake it thoroughly.", + "Shake the curved orange soda bottle after holding it firmly.", + "Hold the plastic bottle and shake it properly.", + "Pick the cylindrical orange plastic bottle up using the right arm and shake it.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Lift the round-bottom bottle with white cap with the right arm and shake it.", + "Grab and shake the grooved orange drink bottle using the right arm.", + "Use the right arm to pick and shake the cylindrical orange plastic bottle.", + "Use the right arm to lift and shake the orange bottle.", + "Grab the orange drink bottle with label firmly, shake it, and put it down.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Shake the ridged orange bottle with grooves firmly after grabbing.", + "Use the right arm to lift and shake the smooth orange bottle.", + "Use the right arm to grab the medium bottle with colorful label and shake it.", + "Catch the orange bottle and shake it instantly.", + "Grasp the cylindrical orange plastic bottle with the right arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Using the right arm, shake the orange bottle and then place it back.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Lift the cylindrical orange plastic bottle and shake it gently.", + "Grip the smooth orange bottle using the right arm and shake.", + "Shake the smooth orange bottle after grabbing it.", + "Grab the grooved orange drink bottle and move it to shake.", + "Hold the ridged orange bottle with grooves with the right arm and shake lightly.", + "Shake the orange drink bottle with label using the right arm after grabbing.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Pick the orange drink bottle with label, shake it with the right arm.", + "Utilize the right arm to hold the grooved orange drink bottle and shake it.", + "Secure the plastic bottle and perform a shake.", + "Shake the the ridged orange bottle with grooves properly after lifting.", + "Lift up the orange drink bottle with label using the right arm, then shake.", + "Grab the grooved orange drink bottle and shake it steadily.", + "Grab the light and medium-sized bottle using the right arm, then shake.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick up the orange bottle and shake it well.", + "Lift the bottle for holding drinks with the right arm and shake.", + "Pick the orange bottle and perform shaking motion.", + "Use the right arm to grab the medium bottle with colorful label and shake properly.", + "Shake the grooved orange drink bottle thoroughly after grabbing it.", + "Pick up the smooth orange bottle and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Grab the plastic bottle with the right arm and shake.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Grab the curved orange soda bottle and give it a shake.", + "Shake the medium bottle with colorful label after lifting it.", + "Take the round-bottom bottle with white cap using the right arm and give it a shake.", + "Use the right arm to hold the grooved orange drink bottle and shake it.", + "Pick the curved orange soda bottle up with the right arm and shake.", + "Grab the light and medium-sized bottle carefully and shake.", + "Lift the smooth orange bottle with the right arm and give it a shake.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Shake the curved orange soda bottle after holding it firmly.", + "Hold the medium bottle with colorful label and shake it properly.", + "Pick the curved orange soda bottle up using the right arm and shake it.", + "Secure the ridged orange bottle with grooves, shake it, and place it down.", + "Lift the plastic bottle with the right arm and shake it.", + "Grab and shake the cylindrical orange plastic bottle using the right arm.", + "Use the right arm to pick and shake the grooved orange drink bottle.", + "Use the right arm to lift and shake the light and medium-sized bottle.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Shake the curved orange soda bottle after grabbing it.", + "Shake the plastic bottle firmly after grabbing.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Use the right arm to grab the bottle for holding drinks and shake it.", + "Catch the light and medium-sized bottle and shake it instantly.", + "Grasp the plastic bottle with the right arm and shake it.", + "Hold and shake the the cylindrical orange plastic bottle carefully.", + "Using the right arm, shake the curved orange soda bottle and then place it back.", + "Use the right arm to lift and shake the ridged orange bottle with grooves.", + "Lift the bottle for holding drinks and shake it gently.", + "Grip the medium bottle with colorful label using the right arm and shake.", + "Shake the medium bottle with colorful label after grabbing it.", + "Grab the light and medium-sized bottle and move it to shake." + ], + "unseen": [ + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode406.json b/shake_bottle/ur5_randomized_500/instructions/episode406.json new file mode 100644 index 0000000000000000000000000000000000000000..bb3467ddbe9f9157a6ea85b3236846b57c4e595b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode406.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with printed label with the right arm and give it a shake.", + "Use the right arm to grab the plastic bottle with sealed yellow cap and shake it.", + "Grab the bottle with narrow neck firmly, shake it, and put it down.", + "Shake the cylindrical orange bottle with yellow top after grabbing it.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Pick the cylindrical orange bottle with yellow top up using the right arm and shake it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with printed label.", + "Lift the bottle with yellow cap with the right arm and shake.", + "Use the right arm to hold the bottle with narrow neck and shake it.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Grab the bottle with yellow cap and shake it steadily.", + "With the right arm, pick the bottle with printed label and shake properly.", + "Using the right arm, shake the orange bottle and then place it back.", + "Grab the plastic bottle with the right arm and shake.", + "Pick the yellow-capped plastic bottle up with the right arm and shake.", + "Pick the orange cylindrical bottle, shake it with the right arm.", + "Shake the orange bottle after holding it firmly.", + "Shake the bottle for liquids firmly after grabbing.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Grasp the bottle with narrow neck with the right arm and shake it.", + "Utilize the right arm to hold the orange cylindrical bottle and shake it.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Shake the bottle with narrow neck after grabbing it.", + "Hold the bottle with printed label and shake it properly.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Grab the yellow-capped plastic bottle and give it a shake.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Shake the the bottle with narrow neck properly after lifting.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Grab the bottle with yellow cap and move it to shake.", + "Hold and shake the the cylindrical orange bottle with yellow top carefully.", + "Grip the cylindrical orange bottle with yellow top using the right arm and shake.", + "Lift the orange cylindrical bottle with the right arm and shake it.", + "Shake the smooth plastic bottle after lifting it.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Take the bottle with printed label using the right arm and give it a shake.", + "Pick up the medium-sized orange bottle and shake it well.", + "Use the right arm to pick and shake the bottle for liquids.", + "Lift the orange bottle and shake it thoroughly.", + "Catch the plastic bottle with sealed yellow cap and shake it instantly.", + "Lift the orange bottle and shake it gently.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Grab and shake the bottle with printed label using the right arm.", + "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.", + "Secure the bottle for liquids and perform a shake.", + "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.", + "Lift the yellow-capped plastic bottle with the right arm and give it a shake.", + "Use the right arm to grab the medium-sized orange bottle and shake it.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Shake the bottle for liquids after grabbing it.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Shake the bottle with yellow cap using the right arm after grabbing.", + "Pick the orange bottle up using the right arm and shake it.", + "Shake the yellow-capped plastic bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Lift the bottle with printed label with the right arm and shake.", + "Use the right arm to hold the bottle with printed label and shake it.", + "Hold the bottle with printed label steady, then shake it.", + "Grab the bottle for liquids and shake it steadily.", + "With the right arm, pick the yellow-capped plastic bottle and shake properly.", + "Using the right arm, shake the medium-sized orange bottle and then place it back.", + "Grab the orange cylindrical bottle with the right arm and shake.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Pick the cylindrical orange bottle with yellow top, shake it with the right arm.", + "Shake the bottle for liquids after holding it firmly.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Pick the orange bottle and perform shaking motion.", + "Grasp the yellow-capped plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Pick up the bottle with printed label and shake it.", + "Shake the orange cylindrical bottle after grabbing it.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Use the right arm to grab the orange bottle and shake properly.", + "Hold the orange cylindrical bottle with the right arm and shake lightly.", + "Shake the orange cylindrical bottle thoroughly after grabbing it.", + "Grab the medium-sized orange bottle and give it a shake.", + "Use the right arm to lift and shake the orange bottle.", + "Shake the the orange bottle properly after lifting.", + "Grab the orange bottle carefully and shake.", + "Grab the medium-sized orange bottle and move it to shake.", + "Hold and shake the the plastic bottle carefully.", + "Grip the plastic bottle with sealed yellow cap using the right arm and shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the plastic bottle with sealed yellow cap after lifting it.", + "Lift up the plastic bottle with sealed yellow cap using the right arm, then shake.", + "Take the bottle with printed label using the right arm and give it a shake.", + "Pick up the bottle with narrow neck and shake it well.", + "Use the right arm to pick and shake the plastic bottle with sealed yellow cap.", + "Lift the orange cylindrical bottle and shake it thoroughly.", + "Catch the bottle with narrow neck and shake it instantly.", + "Lift the orange bottle and shake it gently.", + "Hold the plastic bottle with sealed yellow cap, shake it briefly.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Grab the medium-sized orange bottle using the right arm, then shake.", + "Secure the medium-sized orange bottle and perform a shake.", + "Use the right arm to lift and shake the bottle with printed label." + ], + "unseen": [ + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Shake the label-covered orange bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode407.json b/shake_bottle/ur5_randomized_500/instructions/episode407.json new file mode 100644 index 0000000000000000000000000000000000000000..961a9d65c72ef44606b90954ebb3109c103e7674 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode407.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the bottle with black textured cap and shake it.", + "Shake the the blue water bottle with textured lid properly after lifting.", + "Shake the cylindrical bottle with rounded edges after grabbing it.", + "Grab and shake the light blue cylindrical bottle using the left arm.", + "Pick the light blue cylindrical bottle, shake it with the left arm.", + "Shake the rounded bottle with black lid after holding it firmly.", + "Grab the light blue bottle with strap-loop firmly, shake it, and put it down.", + "Use the left arm to lift and shake the rounded bottle with black lid.", + "Use the left arm to hold the blue water bottle with textured lid and shake it.", + "Shake the rounded bottle with black lid after lifting it.", + "Hold the blue water bottle with textured lid and shake it properly.", + "Hold and shake the the light blue bottle with strap-loop carefully.", + "Grasp the light blue bottle with strap-loop with the left arm and shake it.", + "Secure the medium water bottle, shake it, and place it down.", + "Use the left arm to pick and shake the cylindrical bottle with rounded edges.", + "Hold the light blue cylindrical bottle, shake it briefly.", + "Using the left arm, shake the blue bottle and then place it back.", + "Lift the blue bottle with the left arm and shake it.", + "Shake the rounded bottle with black lid using the left arm after grabbing.", + "With the left arm, pick the rounded bottle with black lid and shake properly.", + "Pick the medium water bottle up using the left arm and shake it.", + "Secure the light blue bottle with smooth body and perform a shake.", + "Lift the plastic bottle and shake it gently.", + "Grab the cylindrical bottle with rounded edges carefully and shake.", + "Grab the medium water bottle using the left arm, then shake.", + "Hold the cylindrical bottle with rounded edges steady, then shake it.", + "Use the left arm to lift and shake the light blue bottle with strap-loop.", + "Shake the light blue bottle with strap-loop after grabbing it.", + "Lift the bottle with black textured cap and shake it thoroughly.", + "Pick the light blue bottle with smooth body up with the left arm and shake.", + "Shake the blue bottle firmly after grabbing.", + "Utilize the left arm to hold the plastic bottle with black top and shake it.", + "Lift the medium water bottle with the left arm and give it a shake.", + "Grab the rounded bottle with black lid and shake it steadily.", + "Grip the plastic bottle using the left arm and shake.", + "Pick the light blue cylindrical bottle and perform shaking motion.", + "Lift up the light blue bottle with smooth body using the left arm, then shake.", + "Grab the light blue bottle with strap-loop with the left arm and shake.", + "Grab the light blue bottle with strap-loop and give it a shake.", + "Use the left arm to lift and shake the light blue bottle with smooth body.", + "Pick up the light blue cylindrical bottle and shake it well.", + "Catch the rounded bottle with black lid and shake it instantly.", + "Use the left arm to grab the rounded bottle with black lid and shake properly.", + "Shake the blue bottle thoroughly after grabbing it.", + "Pick up the blue water bottle with textured lid and shake it.", + "Lift the blue water bottle with textured lid with the left arm and shake.", + "Take the portable bottle for liquids using the left arm and give it a shake.", + "Grab the blue water bottle with textured lid and move it to shake.", + "Shake the plastic bottle after grabbing it.", + "Hold the light blue bottle with smooth body with the left arm and shake lightly.", + "Use the left arm to grab the plastic bottle with black top and shake it.", + "Shake the the bottle with black textured cap properly after lifting.", + "Shake the medium water bottle after grabbing it.", + "Grab and shake the light blue bottle with smooth body using the left arm.", + "Pick the blue bottle, shake it with the left arm.", + "Shake the blue water bottle with textured lid after holding it firmly.", + "Grab the cylindrical bottle with rounded edges firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle with black textured cap.", + "Use the left arm to hold the bottle with black textured cap and shake it.", + "Shake the rounded bottle with black lid after lifting it.", + "Hold the medium water bottle and shake it properly.", + "Hold and shake the the portable bottle for liquids carefully.", + "Grasp the blue bottle with the left arm and shake it.", + "Secure the rounded bottle with black lid, shake it, and place it down.", + "Use the left arm to pick and shake the plastic bottle.", + "Hold the portable bottle for liquids, shake it briefly.", + "Using the left arm, shake the light blue bottle with strap-loop and then place it back.", + "Lift the light blue cylindrical bottle with the left arm and shake it.", + "Shake the blue bottle using the left arm after grabbing.", + "With the left arm, pick the plastic bottle and shake properly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Secure the plastic bottle with black top and perform a shake.", + "Lift the blue bottle and shake it gently.", + "Grab the light blue bottle with strap-loop carefully and shake.", + "Grab the light blue cylindrical bottle using the left arm, then shake.", + "Hold the blue bottle steady, then shake it.", + "Use the left arm to lift and shake the plastic bottle with black top.", + "Shake the plastic bottle after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick the blue water bottle with textured lid up with the left arm and shake.", + "Shake the portable bottle for liquids firmly after grabbing.", + "Utilize the left arm to hold the cylindrical bottle with rounded edges and shake it.", + "Lift the cylindrical bottle with rounded edges with the left arm and give it a shake.", + "Grab the plastic bottle with black top and shake it steadily.", + "Grip the light blue bottle with strap-loop using the left arm and shake.", + "Pick the cylindrical bottle with rounded edges and perform shaking motion.", + "Lift up the rounded bottle with black lid using the left arm, then shake.", + "Grab the light blue bottle with smooth body with the left arm and shake.", + "Grab the blue bottle and give it a shake.", + "Use the left arm to lift and shake the light blue bottle with strap-loop.", + "Pick up the blue bottle and shake it well.", + "Catch the bottle with black textured cap and shake it instantly.", + "Use the left arm to grab the blue bottle and shake properly.", + "Shake the light blue bottle with smooth body thoroughly after grabbing it.", + "Pick up the portable bottle for liquids and shake it.", + "Lift the blue water bottle with textured lid with the left arm and shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grab the blue water bottle with textured lid and move it to shake.", + "Shake the light blue cylindrical bottle after grabbing it.", + "Hold the bottle with black textured cap with the left arm and shake lightly." + ], + "unseen": [ + "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Grab the smooth blue water bottle and shake it.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Use the left arm to pick the smooth blue water bottle.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Grab the smooth blue water bottle and give it a shake.", + "Grab the bottle with attached loop on cap and shake it.", + "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Grab the smooth blue water bottle and shake it.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick and shake the the bottle with attached loop on cap with the left arm.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick up the bottle with attached loop on cap and shake it.", + "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Grab the smooth blue water bottle and shake it.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Grab the smooth blue water bottle and give it a shake.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Use the left arm to pick the smooth blue water bottle.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the smooth blue water bottle with the left arm and shake.", + "Pick up the smooth blue water bottle and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Grab the bottle with attached loop on cap and give it a shake.", + "Grab the cylindrical plastic bottle for carrying water and shake it.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Pick up the smooth blue water bottle and shake it.", + "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Grab the smooth blue water bottle and shake it.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick up the smooth blue water bottle and shake it.", + "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Grab the smooth blue water bottle and shake it.", + "Grab the smooth blue water bottle, shake it properly, then set it down.", + "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.", + "Use the left arm to grab the smooth blue water bottle and shake.", + "Use the left arm to pick the cylindrical plastic bottle for carrying water.", + "Pick up the cylindrical plastic bottle for carrying water and shake it.", + "Pick up the bottle with attached loop on cap with the left arm and shake.", + "Pick up the bottle with attached loop on cap and shake it.", + "Shake the smooth blue water bottle after picking it with the left arm.", + "Grab the cylindrical plastic bottle for carrying water and give it a shake.", + "Grab the bottle with attached loop on cap and shake it.", + "Grab the bottle with attached loop on cap, shake it properly, then set it down.", + "Pick and shake the the smooth blue water bottle with the left arm.", + "Use the left arm to grab the bottle with attached loop on cap and shake.", + "Use the left arm to pick the bottle with attached loop on cap.", + "Pick up the bottle with attached loop on cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode408.json b/shake_bottle/ur5_randomized_500/instructions/episode408.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0cd3d0683fe6f80d02a0ceef3a6911b74581f4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode408.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Pick up the yellow bottle and shake it.", + "Grasp the yellow container with rounded edges with the left arm and shake it.", + "Shake the rectangular bottle with cylindrical neck using the left arm after grabbing.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Lift the yellow bottle with the left arm and give it a shake.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Use the left arm to grab the yellow container with rounded edges and shake it.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Grab the bottle with green label and move it to shake.", + "Pick the bottle with green and white labels up with the left arm and shake.", + "Lift the bottle with a smooth plastic body with the left arm and shake it.", + "Grab the yellow bottle with a green design and give it a shake.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Use the left arm to pick and shake the yellow container with rounded edges.", + "Pick the bottle with white cap and perform shaking motion.", + "Shake the yellow container with rounded edges after grabbing it.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Shake the yellow bottle with a green design after holding it firmly.", + "Lift the medium rectangular yellow bottle with the left arm and shake.", + "Using the left arm, shake the yellow container with rounded edges and then place it back.", + "With the left arm, pick the medium rectangular yellow bottle and shake properly.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Lift up the yellow bottle using the left arm, then shake.", + "Lift the plastic bottle and shake it gently.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with green label.", + "Grab the bottle with white cap carefully and shake.", + "Take the smooth bottle with rounded edges using the left arm and give it a shake.", + "Hold the yellow bottle with a green design and shake it properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Grab the bottle with green label using the left arm, then shake.", + "Shake the the bottle with white cap properly after lifting.", + "Shake the yellow bottle after grabbing it.", + "Catch the bottle with a smooth plastic body and shake it instantly.", + "Utilize the left arm to hold the bottle with a smooth plastic body and shake it.", + "Use the left arm to hold the bottle with green label and shake it.", + "Hold the yellow bottle steady, then shake it.", + "Use the left arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Grab the medium rectangular yellow bottle with the left arm and shake.", + "Hold and shake the the bottle with green label carefully.", + "Shake the bottle with white cap after grabbing it.", + "Grip the medium rectangular yellow bottle using the left arm and shake.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Pick up the yellow bottle with a green design and shake it well.", + "Hold the bottle with green and white labels, shake it briefly.", + "Grab and shake the medium rectangular yellow bottle using the left arm.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the bottle with green label using the left arm after grabbing.", + "Hold the yellow bottle with a green design with the left arm and shake lightly.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the left arm to grab the yellow plastic bottle with white top and shake it.", + "Secure the yellow container with rounded edges and perform a shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the bottle with white cap and move it to shake.", + "Pick the smooth bottle with rounded edges up with the left arm and shake.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Pick the bottle with green label and perform shaking motion.", + "Shake the bottle with white cap after grabbing it.", + "Shake the bottle with green and white labels after lifting it.", + "Grab the plastic bottle and shake it steadily.", + "Shake the bottle with green label after holding it firmly.", + "Lift the plastic bottle with the left arm and shake.", + "Using the left arm, shake the yellow bottle with a green design and then place it back.", + "With the left arm, pick the bottle with green label and shake properly.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Lift up the yellow bottle using the left arm, then shake.", + "Lift the plastic bottle and shake it gently.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the bottle with white cap carefully and shake.", + "Take the bottle with a smooth plastic body using the left arm and give it a shake.", + "Hold the yellow plastic bottle with white top and shake it properly.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab the yellow container with rounded edges using the left arm, then shake.", + "Shake the the rectangular bottle with cylindrical neck properly after lifting.", + "Shake the bottle with white cap after grabbing it.", + "Catch the plastic bottle and shake it instantly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Hold the smooth bottle with rounded edges steady, then shake it.", + "Use the left arm to grab the medium rectangular yellow bottle and shake properly.", + "Grab the yellow bottle with a green design with the left arm and shake.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Shake the yellow container with rounded edges after grabbing it.", + "Grip the yellow bottle with a green design using the left arm and shake.", + "Secure the yellow bottle, shake it, and place it down.", + "Pick up the yellow container with rounded edges and shake it well.", + "Hold the bottle with green label, shake it briefly.", + "Grab and shake the plastic bottle using the left arm." + ], + "unseen": [ + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode409.json b/shake_bottle/ur5_randomized_500/instructions/episode409.json new file mode 100644 index 0000000000000000000000000000000000000000..8c8286452de3db7ff9d86e295d0a4825118f82df --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode409.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with tapering neck thoroughly after grabbing it.", + "Shake the the bottle with orange screw cap properly after lifting.", + "Hold the bottle with orange screw cap, shake it briefly.", + "Grab the handheld white bottle with cap firmly, shake it, and put it down.", + "Grab the white bottle with orange lid and give it a shake.", + "Grip the bottle with tapering neck using the left arm and shake.", + "Lift the white bottle with red text with the left arm and shake it.", + "Grab the bottle with tapering neck carefully and shake.", + "Take the white bottle using the left arm and give it a shake.", + "Shake the smooth bottle firmly after grabbing.", + "Use the left arm to lift and shake the handheld white bottle with cap.", + "Lift the handheld white bottle with cap and shake it gently.", + "Grab and shake the bottle with orange screw cap using the left arm.", + "Grab the plastic bottle with the left arm and shake.", + "Grasp the bottle with tapering neck with the left arm and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Shake the plastic bottle after grabbing it.", + "Shake the white bottle with red text using the left arm after grabbing.", + "Shake the white cylindrical bottle after holding it firmly.", + "Utilize the left arm to hold the bottle with tapering neck and shake it.", + "Secure the white bottle for liquids, shake it, and place it down.", + "Use the left arm to grab the white bottle with orange lid and shake it.", + "Use the left arm to lift and shake the handheld white bottle with cap.", + "Pick the cylindrical bottle with red writing up with the left arm and shake.", + "Pick the handheld white bottle with cap, shake it with the left arm.", + "Grab the white bottle and move it to shake.", + "Lift the white cylindrical bottle and shake it thoroughly.", + "Pick up the handheld white bottle with cap and shake it.", + "Hold the white bottle with red text with the left arm and shake lightly.", + "Use the left arm to grab the white bottle and shake properly.", + "Lift up the white bottle with red text using the left arm, then shake.", + "Grab the cylindrical bottle with red writing using the left arm, then shake.", + "Pick the white bottle with red text and perform shaking motion.", + "Use the left arm to pick and shake the bottle with tapering neck.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Hold the handheld white bottle with cap steady, then shake it.", + "Shake the white bottle with orange lid after lifting it.", + "With the left arm, pick the smooth bottle and shake properly.", + "Use the left arm to lift and shake the white bottle.", + "Lift the smooth bottle with the left arm and give it a shake.", + "Grab the white bottle with red text and shake it steadily.", + "Secure the white bottle and perform a shake.", + "Pick up the bottle with tapering neck and shake it well.", + "Hold the bottle with tapering neck and shake it properly.", + "Pick the white bottle with red text up using the left arm and shake it.", + "Lift the medium-sized bottle with the left arm and shake.", + "Shake the bottle with orange screw cap after grabbing it.", + "Catch the white bottle and shake it instantly.", + "Use the left arm to hold the smooth bottle and shake it.", + "Hold and shake the the white bottle with orange lid carefully.", + "Shake the white cylindrical bottle thoroughly after grabbing it.", + "Shake the the white bottle with red text properly after lifting.", + "Hold the handheld white bottle with cap, shake it briefly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the medium-sized bottle and give it a shake.", + "Grip the bottle with tapering neck using the left arm and shake.", + "Lift the medium-sized bottle with the left arm and shake it.", + "Grab the white bottle carefully and shake.", + "Take the white cylindrical bottle using the left arm and give it a shake.", + "Shake the white bottle for liquids firmly after grabbing.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Lift the smooth bottle and shake it gently.", + "Grab and shake the handheld white bottle with cap using the left arm.", + "Grab the white bottle for liquids with the left arm and shake.", + "Grasp the white bottle with the left arm and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Shake the white bottle for liquids after grabbing it.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Shake the white cylindrical bottle after holding it firmly.", + "Utilize the left arm to hold the white cylindrical bottle and shake it.", + "Secure the bottle with orange screw cap, shake it, and place it down.", + "Use the left arm to grab the white bottle with red text and shake it.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "Pick the white cylindrical bottle up with the left arm and shake.", + "Pick the cylindrical bottle with red writing, shake it with the left arm.", + "Grab the handheld white bottle with cap and move it to shake.", + "Lift the handheld white bottle with cap and shake it thoroughly.", + "Pick up the white bottle for liquids and shake it.", + "Hold the medium-sized bottle with the left arm and shake lightly.", + "Use the left arm to grab the bottle with orange screw cap and shake properly.", + "Lift up the white bottle with red text using the left arm, then shake.", + "Grab the cylindrical bottle with red writing using the left arm, then shake.", + "Pick the cylindrical bottle with red writing and perform shaking motion.", + "Use the left arm to pick and shake the bottle with tapering neck.", + "Shake the bottle with orange screw cap after grabbing it.", + "Hold the smooth bottle steady, then shake it.", + "Shake the bottle with tapering neck after lifting it.", + "With the left arm, pick the bottle with orange screw cap and shake properly.", + "Use the left arm to lift and shake the cylindrical bottle with red writing.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Grab the white cylindrical bottle and shake it steadily.", + "Secure the smooth bottle and perform a shake.", + "Pick up the bottle with orange screw cap and shake it well.", + "Hold the smooth bottle and shake it properly.", + "Pick the white bottle with orange lid up using the left arm and shake it.", + "Lift the white bottle for liquids with the left arm and shake.", + "Shake the white bottle after grabbing it.", + "Catch the handheld white bottle with cap and shake it instantly.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Hold and shake the the bottle with orange screw cap carefully." + ], + "unseen": [ + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode41.json b/shake_bottle/ur5_randomized_500/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..ce9f6c07057411d5dd7445303a50a28e2f85fb2a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with dark brown color, shake it, and place it down.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Shake the medium plastic bottle after grabbing it.", + "Shake the the medium bottle with smooth texture properly after lifting.", + "Lift up the medium bottle with smooth texture using the left arm, then shake.", + "Pick up the plastic bottle for liquids and shake it well.", + "Shake the rounded bottle with printed details firmly after grabbing.", + "Take the bottle with dark brown color using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Shake the plastic bottle for liquids after grabbing it.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Lift the plastic bottle with printed label and shake it gently.", + "Lift the smooth brown bottle and shake it thoroughly.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Using the left arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Shake the smooth brown bottle after holding it firmly.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Pick the bottle with dark brown color up with the left arm and shake.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Grab the white-capped brown cylindrical bottle and move it to shake.", + "Secure the white-capped brown cylindrical bottle and perform a shake.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Lift the bottle with dark brown color with the left arm and give it a shake.", + "Hold the bottle with dark brown color, shake it briefly.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "With the left arm, pick the smooth brown bottle and shake properly.", + "Grip the medium bottle with smooth texture using the left arm and shake.", + "Grab the plastic bottle for liquids using the left arm, then shake.", + "Pick the white-capped brown cylindrical bottle, shake it with the left arm.", + "Grab and shake the cylindrical bottle with narrow neck using the left arm.", + "Pick the plastic bottle for liquids and perform shaking motion.", + "Grab the rounded bottle with printed details firmly, shake it, and put it down.", + "Pick the medium bottle with smooth texture up using the left arm and shake it.", + "Use the left arm to pick and shake the rounded bottle with printed details.", + "Catch the bottle with brown body and white top and shake it instantly.", + "Grab the rounded bottle with printed details and give it a shake.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Hold the medium plastic bottle with the left arm and shake lightly.", + "Shake the handheld brown bottle with white lid using the left arm after grabbing.", + "Shake the rounded bottle with printed details after lifting it.", + "Grab the plastic bottle with printed label with the left arm and shake.", + "Lift the handheld brown bottle with white lid with the left arm and shake.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Grasp the handheld brown bottle with white lid with the left arm and shake it.", + "Utilize the left arm to hold the bottle with brown body and white top and shake it.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Grab the medium plastic bottle carefully and shake.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Shake the the smooth brown bottle properly after lifting.", + "Lift up the bottle with brown body and white top using the left arm, then shake.", + "Pick up the cylindrical bottle with narrow neck and shake it well.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Take the plastic bottle for liquids using the left arm and give it a shake.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Pick up the medium bottle with smooth texture and shake it.", + "Lift the bottle with white cap and shake it gently.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Lift the bottle with white cap with the left arm and shake it.", + "Use the left arm to grab the medium plastic bottle and shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Using the left arm, shake the medium bottle with smooth texture and then place it back.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Pick the bottle with dark brown color up with the left arm and shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Grab the plastic bottle with printed label and move it to shake.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Hold the rounded bottle with printed details steady, then shake it.", + "Lift the bottle with brown body and white top with the left arm and give it a shake.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Hold the smooth brown bottle and shake it properly.", + "With the left arm, pick the medium bottle with smooth texture and shake properly.", + "Grip the bottle with white cap using the left arm and shake.", + "Grab the bottle with white cap using the left arm, then shake.", + "Pick the medium bottle with smooth texture, shake it with the left arm.", + "Grab and shake the handheld brown bottle with white lid using the left arm.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Grab the plastic bottle for liquids firmly, shake it, and put it down.", + "Pick the plastic bottle for liquids up using the left arm and shake it.", + "Use the left arm to pick and shake the bottle with dark brown color.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Hold the bottle with white cap with the left arm and shake lightly.", + "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.", + "Shake the medium plastic bottle after lifting it.", + "Grab the bottle with brown body and white top with the left arm and shake.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake.", + "Use the left arm to grab the rounded bottle with printed details and shake properly.", + "Grasp the medium plastic bottle with the left arm and shake it.", + "Utilize the left arm to hold the bottle with white cap and shake it." + ], + "unseen": [ + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode410.json b/shake_bottle/ur5_randomized_500/instructions/episode410.json new file mode 100644 index 0000000000000000000000000000000000000000..35ca7bee73f770ad57505eab439ec9f17ffe1ede --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode410.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the white bottle with blue accents with the right arm and shake it.", + "Shake the white bottle with blue accents after grabbing it.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Pick the bottle for liquids up with the right arm and shake.", + "Hold the bottle with blue cap with the right arm and shake lightly.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Grab the bottle for liquids using the right arm, then shake.", + "Shake the white bottle with blue accents after grabbing it.", + "Take the white and blue bottle using the right arm and give it a shake.", + "Catch the bottle for liquids and shake it instantly.", + "Secure the cylindrical bottle, shake it, and place it down.", + "Pick the plastic bottle, shake it with the right arm.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Hold the blue bottle with label steady, then shake it.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Pick up the medium bottle for beverages and shake it.", + "Hold and shake the the medium-sized bottle carefully.", + "Hold the blue bottle with label and shake it properly.", + "Shake the medium-sized bottle firmly after grabbing.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the white and blue bottle with the right arm and shake.", + "Pick the medium-sized bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the blue bottle.", + "Grab the handheld bottle and shake it steadily.", + "Shake the blue bottle with label after holding it firmly.", + "Hold the blue bottle with label, shake it briefly.", + "Grab the blue bottle and give it a shake.", + "Lift up the bottle with blue cap using the right arm, then shake.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Using the right arm, shake the medium-sized bottle and then place it back.", + "Lift the medium-sized bottle with the right arm and shake it.", + "Grab the medium bottle for beverages and move it to shake.", + "Shake the plastic bottle after grabbing it.", + "Shake the handheld bottle using the right arm after grabbing.", + "Lift the blue bottle with label and shake it thoroughly.", + "Use the right arm to lift and shake the medium bottle for beverages.", + "Grab and shake the handheld bottle using the right arm.", + "Use the right arm to grab the white and blue bottle and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Pick up the bottle with blue cap and shake it well.", + "Grip the plastic bottle using the right arm and shake.", + "Shake the the handheld bottle properly after lifting.", + "Secure the handheld bottle and perform a shake.", + "Shake the bottle for liquids after lifting it.", + "Lift the smooth plastic bottle and shake it gently.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the blue bottle carefully and shake.", + "Use the right arm to hold the plastic bottle and shake it.", + "Pick the white and blue bottle and perform shaking motion.", + "Grab the bottle for liquids with the right arm and shake.", + "Grasp the bottle with blue cap with the right arm and shake it.", + "Shake the blue bottle with label after grabbing it.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Pick the blue bottle up with the right arm and shake.", + "Hold the cylindrical bottle with the right arm and shake lightly.", + "Grab the blue bottle with label firmly, shake it, and put it down.", + "Grab the white bottle with blue accents using the right arm, then shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Take the white bottle with blue accents using the right arm and give it a shake.", + "Catch the medium-sized bottle and shake it instantly.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick the cylindrical bottle, shake it with the right arm.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Hold the bottle with blue cap steady, then shake it.", + "With the right arm, pick the medium bottle for beverages and shake properly.", + "Pick up the bottle for liquids and shake it.", + "Hold and shake the the medium-sized bottle carefully.", + "Hold the bottle with blue cap and shake it properly.", + "Shake the cylindrical bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium bottle for beverages.", + "Lift the bottle for liquids with the right arm and shake.", + "Pick the white bottle with blue accents up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle for liquids.", + "Grab the plastic bottle and shake it steadily.", + "Shake the bottle with blue cap after holding it firmly.", + "Hold the blue bottle, shake it briefly.", + "Grab the cylindrical bottle and give it a shake.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Using the right arm, shake the medium-sized bottle and then place it back.", + "Lift the white and blue bottle with the right arm and shake it.", + "Grab the plastic bottle and move it to shake.", + "Shake the handheld bottle after grabbing it.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Use the right arm to lift and shake the white and blue bottle.", + "Grab and shake the white bottle with blue accents using the right arm.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Use the right arm to pick and shake the bottle for liquids.", + "Pick up the handheld bottle and shake it well.", + "Grip the bottle with blue cap using the right arm and shake.", + "Shake the the white and blue bottle properly after lifting.", + "Secure the bottle for liquids and perform a shake.", + "Shake the handheld bottle after lifting it.", + "Lift the bottle for liquids and shake it gently.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the cylindrical bottle carefully and shake.", + "Use the right arm to hold the medium bottle for beverages and shake it.", + "Pick the bottle for liquids and perform shaking motion.", + "Grab the white and blue bottle with the right arm and shake." + ], + "unseen": [ + "Use the right arm to pick the blue-capped plastic bottle.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode411.json b/shake_bottle/ur5_randomized_500/instructions/episode411.json new file mode 100644 index 0000000000000000000000000000000000000000..49f65b959ed378065d40db8535f58c1230c47394 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode411.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the dark drink bottle with logo with the left arm and shake.", + "Grasp the long thin bottle with the left arm and shake it.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Shake the the red-capped bottle properly after lifting.", + "Shake the Coca-Cola bottle after grabbing it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Catch the long thin bottle and shake it instantly.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick the long thin bottle up with the left arm and shake.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Take the long thin bottle using the left arm and give it a shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Hold the red-capped bottle and shake it properly.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the long thin bottle using the left arm after grabbing.", + "Pick up the bottle with ridges on bottom and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Lift the smooth bottle with red lid and shake it gently.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Shake the long thin bottle after lifting it.", + "Grab the narrow-necked bottle and move it to shake.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick up the dark drink bottle with logo and shake it well.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Hold the red-capped bottle steady, then shake it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Shake the plastic drink bottle after holding it firmly.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Shake the Coca-Cola bottle after grabbing it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grab the long thin bottle and give it a shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Catch the red-capped bottle and shake it instantly.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Hold the bottle with white neck and red top and shake it properly.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Pick up the brown bottle with red label and shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Lift the plastic drink bottle and shake it gently.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Grab the brown bottle with red label carefully and shake.", + "Shake the narrow-necked bottle after lifting it.", + "Grab the hand-sized soda bottle and move it to shake.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick up the plastic drink bottle and shake it well.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Lift the brown bottle with red label with the left arm and shake.", + "Hold the narrow-necked bottle steady, then shake it.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Shake the brown bottle with red label after holding it firmly.", + "Secure the dark drink bottle with logo, shake it, and place it down." + ], + "unseen": [ + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode412.json b/shake_bottle/ur5_randomized_500/instructions/episode412.json new file mode 100644 index 0000000000000000000000000000000000000000..bbe39647dc77c3fe1d9714aba2a78d44af44ab95 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode412.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the orange and white bottle with cap and shake it.", + "Pick the medium orange bottle, shake it with the left arm.", + "Grab the medium orange bottle firmly, shake it, and put it down.", + "Grab the cylindrical orange and white bottle carefully and shake.", + "Shake the the yellow label bottle properly after lifting.", + "With the left arm, pick the medium bottle with orange lid and shake properly.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Grab the plastic bottle and move it to shake.", + "Secure the bottle with orange cap and perform a shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Hold the orange and white bottle with cap and shake it properly.", + "Secure the medium orange bottle, shake it, and place it down.", + "Lift the orange bottle and shake it gently.", + "Grab the medium bottle with orange lid using the left arm, then shake.", + "Lift the yellow label bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow label bottle.", + "Lift the yellow label bottle with the left arm and shake it.", + "Catch the cylindrical orange and white bottle and shake it instantly.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Pick up the orange and white bottle with cap and shake it well.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Utilize the left arm to hold the white and orange plastic bottle and shake it.", + "Shake the medium orange bottle after grabbing it.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Lift up the orange bottle using the left arm, then shake.", + "Grab the smooth plastic bottle and shake it steadily.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Shake the drinking bottle with yellow label firmly after grabbing.", + "Lift the white and orange plastic bottle and shake it thoroughly.", + "Take the white and orange plastic bottle using the left arm and give it a shake.", + "Hold the medium orange bottle with the left arm and shake lightly.", + "Use the left arm to hold the white and orange plastic bottle and shake it.", + "Grab and shake the orange bottle using the left arm.", + "Shake the bottle with ribbed orange bottom after holding it firmly.", + "Use the left arm to grab the yellow label bottle and shake properly.", + "Grab the orange bottle with the left arm and shake.", + "Shake the medium bottle with orange lid after lifting it.", + "Pick the medium bottle with orange lid and perform shaking motion.", + "Use the left arm to pick and shake the yellow label bottle.", + "Pick up the orange bottle and shake it.", + "Shake the medium orange bottle after grabbing it.", + "Pick the bottle with orange cap up with the left arm and shake.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "Shake the orange bottle using the left arm after grabbing.", + "Grip the white and orange plastic bottle using the left arm and shake.", + "Hold the plastic bottle, shake it briefly.", + "Grab the medium bottle with orange lid and give it a shake.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Pick the medium bottle with orange lid up using the left arm and shake it.", + "Use the left arm to grab the smooth plastic bottle and shake it.", + "Pick the orange bottle, shake it with the left arm.", + "Grab the drinking bottle with yellow label firmly, shake it, and put it down.", + "Grab the plastic bottle carefully and shake.", + "Shake the the yellow label bottle properly after lifting.", + "With the left arm, pick the medium bottle with orange lid and shake properly.", + "Grasp the orange bottle with the left arm and shake it.", + "Grab the white and orange plastic bottle and move it to shake.", + "Secure the plastic bottle and perform a shake.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Hold the white and orange plastic bottle and shake it properly.", + "Secure the medium orange bottle, shake it, and place it down.", + "Lift the medium orange bottle and shake it gently.", + "Grab the medium orange bottle using the left arm, then shake.", + "Lift the bottle with orange cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium orange bottle.", + "Lift the white and orange plastic bottle with the left arm and shake it.", + "Catch the orange bottle and shake it instantly.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Pick up the white and orange plastic bottle and shake it well.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Utilize the left arm to hold the yellow label bottle and shake it.", + "Shake the yellow label bottle after grabbing it.", + "Lift the drinking bottle with yellow label with the left arm and shake.", + "Hold the medium orange bottle steady, then shake it.", + "Lift up the bottle with ribbed orange bottom using the left arm, then shake.", + "Grab the smooth plastic bottle and shake it steadily.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the orange and white bottle with cap firmly after grabbing.", + "Lift the cylindrical orange and white bottle and shake it thoroughly.", + "Take the cylindrical orange and white bottle using the left arm and give it a shake.", + "Hold the medium orange bottle with the left arm and shake lightly.", + "Use the left arm to hold the yellow label bottle and shake it.", + "Grab and shake the medium orange bottle using the left arm.", + "Shake the orange bottle after holding it firmly.", + "Use the left arm to grab the white and orange plastic bottle and shake properly.", + "Grab the bottle with orange cap with the left arm and shake.", + "Shake the medium bottle with orange lid after lifting it.", + "Pick the orange bottle and perform shaking motion.", + "Use the left arm to pick and shake the medium bottle with orange lid.", + "Pick up the white and orange plastic bottle and shake it.", + "Shake the orange and white bottle with cap after grabbing it.", + "Pick the medium bottle with orange lid up with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the medium orange bottle using the left arm after grabbing.", + "Grip the plastic bottle using the left arm and shake.", + "Hold the white and orange plastic bottle, shake it briefly.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to lift and shake the orange bottle.", + "Pick the plastic bottle up using the left arm and shake it." + ], + "unseen": [ + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode413.json b/shake_bottle/ur5_randomized_500/instructions/episode413.json new file mode 100644 index 0000000000000000000000000000000000000000..eac47b1b36ea9b04d19b93aa09faaa20c7a27160 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode413.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the medium bottle with colorful label and shake it.", + "Lift the bottle for holding drinks and shake it thoroughly.", + "Grip the grooved orange drink bottle using the left arm and shake.", + "Use the left arm to hold the curved orange soda bottle and shake it.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Grab the bottle for holding drinks using the left arm, then shake.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Hold and shake the the smooth orange bottle carefully.", + "Lift up the orange drink bottle with label using the left arm, then shake.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Shake the orange drink bottle with label after grabbing it.", + "Shake the bottle for holding drinks using the left arm after grabbing.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Lift the ridged orange bottle with grooves and shake it gently.", + "Hold the round-bottom bottle with white cap with the left arm and shake lightly.", + "Take the cylindrical orange plastic bottle using the left arm and give it a shake.", + "Pick the orange drink bottle with label up using the left arm and shake it.", + "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.", + "Grab the grooved orange drink bottle and move it to shake.", + "Secure the ridged orange bottle with grooves, shake it, and place it down.", + "Shake the grooved orange drink bottle thoroughly after grabbing it.", + "Grab and shake the grooved orange drink bottle using the left arm.", + "Shake the orange drink bottle with label after grabbing it.", + "Grab the ridged orange bottle with grooves with the left arm and shake.", + "Pick the round-bottom bottle with white cap and perform shaking motion.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Shake the bottle for holding drinks after holding it firmly.", + "Grab the ridged orange bottle with grooves carefully and shake.", + "Hold the round-bottom bottle with white cap steady, then shake it.", + "Hold the orange bottle, shake it briefly.", + "Lift the grooved orange drink bottle with the left arm and shake.", + "Lift the orange drink bottle with label with the left arm and shake it.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Grasp the cylindrical orange plastic bottle with the left arm and shake it.", + "Lift the round-bottom bottle with white cap with the left arm and give it a shake.", + "With the left arm, pick the smooth orange bottle and shake properly.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Use the left arm to grab the round-bottom bottle with white cap and shake it.", + "Using the left arm, shake the smooth orange bottle and then place it back.", + "Use the left arm to pick and shake the bottle for holding drinks.", + "Pick up the grooved orange drink bottle and shake it well.", + "Hold the light and medium-sized bottle and shake it properly.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the smooth orange bottle after lifting it.", + "Pick the curved orange soda bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Secure the plastic bottle and perform a shake.", + "Grab the medium bottle with colorful label and give it a shake.", + "Pick the smooth orange bottle, shake it with the left arm.", + "Utilize the left arm to hold the orange drink bottle with label and shake it.", + "Lift the orange drink bottle with label and shake it thoroughly.", + "Grip the orange bottle using the left arm and shake.", + "Use the left arm to hold the medium bottle with colorful label and shake it.", + "Pick up the cylindrical orange plastic bottle and shake it.", + "Grab the cylindrical orange plastic bottle using the left arm, then shake.", + "Catch the medium bottle with colorful label and shake it instantly.", + "Hold and shake the the curved orange soda bottle carefully.", + "Lift up the smooth orange bottle using the left arm, then shake.", + "Use the left arm to lift and shake the grooved orange drink bottle.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Shake the ridged orange bottle with grooves using the left arm after grabbing.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Lift the orange drink bottle with label and shake it gently.", + "Hold the cylindrical orange plastic bottle with the left arm and shake lightly.", + "Take the orange drink bottle with label using the left arm and give it a shake.", + "Pick the light and medium-sized bottle up using the left arm and shake it.", + "Grab the curved orange soda bottle firmly, shake it, and put it down.", + "Grab the orange bottle and move it to shake.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Grab and shake the orange bottle using the left arm.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth orange bottle with the left arm and shake.", + "Pick the ridged orange bottle with grooves and perform shaking motion.", + "Use the left arm to grab the ridged orange bottle with grooves and shake properly.", + "Shake the grooved orange drink bottle after holding it firmly.", + "Grab the curved orange soda bottle carefully and shake.", + "Hold the orange bottle steady, then shake it.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Lift the ridged orange bottle with grooves with the left arm and shake.", + "Lift the orange bottle with the left arm and shake it.", + "Grab the smooth orange bottle and shake it steadily.", + "Grasp the grooved orange drink bottle with the left arm and shake it.", + "Lift the orange bottle with the left arm and give it a shake.", + "With the left arm, pick the grooved orange drink bottle and shake properly.", + "Shake the the bottle for holding drinks properly after lifting.", + "Use the left arm to grab the curved orange soda bottle and shake it.", + "Using the left arm, shake the ridged orange bottle with grooves and then place it back.", + "Use the left arm to pick and shake the smooth orange bottle.", + "Pick up the medium bottle with colorful label and shake it well.", + "Hold the curved orange soda bottle and shake it properly.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the curved orange soda bottle after lifting it.", + "Pick the ridged orange bottle with grooves up with the left arm and shake.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Secure the orange bottle and perform a shake.", + "Grab the smooth orange bottle and give it a shake.", + "Pick the grooved orange drink bottle, shake it with the left arm." + ], + "unseen": [ + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with white cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode414.json b/shake_bottle/ur5_randomized_500/instructions/episode414.json new file mode 100644 index 0000000000000000000000000000000000000000..698cc66d89e6ca40bf0d1cf9c2c7991068e2a0f2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode414.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the plastic bottle using the left arm.", + "Grasp the ridged orange bottle with grooves with the left arm and shake it.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Pick up the grooved orange drink bottle and shake it.", + "Grab the curved orange soda bottle carefully and shake.", + "Grab the orange drink bottle with label and move it to shake.", + "Use the left arm to hold the medium bottle with colorful label and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Lift the orange bottle with the left arm and shake.", + "Lift the grooved orange drink bottle and shake it gently.", + "Use the left arm to lift and shake the orange bottle.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Secure the bottle for holding drinks and perform a shake.", + "Pick the grooved orange drink bottle and perform shaking motion.", + "Grab the bottle for holding drinks and shake it steadily.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Lift up the smooth orange bottle using the left arm, then shake.", + "Hold and shake the the grooved orange drink bottle carefully.", + "Lift the plastic bottle with the left arm and shake it.", + "Catch the orange drink bottle with label and shake it instantly.", + "Grab the ridged orange bottle with grooves using the left arm, then shake.", + "Shake the smooth orange bottle after grabbing it.", + "Pick the ridged orange bottle with grooves up using the left arm and shake it.", + "Lift the bottle for holding drinks and shake it thoroughly.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Secure the orange drink bottle with label, shake it, and place it down.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Shake the the grooved orange drink bottle properly after lifting.", + "Grab the round-bottom bottle with white cap and give it a shake.", + "Use the left arm to pick and shake the ridged orange bottle with grooves.", + "Grab the bottle for holding drinks with the left arm and shake.", + "Shake the orange drink bottle with label after lifting it.", + "With the left arm, pick the grooved orange drink bottle and shake properly.", + "Hold the orange bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Pick the grooved orange drink bottle up with the left arm and shake.", + "Pick the smooth orange bottle, shake it with the left arm.", + "Grip the grooved orange drink bottle using the left arm and shake.", + "Shake the light and medium-sized bottle thoroughly after grabbing it.", + "Using the left arm, shake the orange bottle and then place it back.", + "Use the left arm to grab the curved orange soda bottle and shake it.", + "Shake the curved orange soda bottle using the left arm after grabbing.", + "Lift the curved orange soda bottle with the left arm and give it a shake.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick up the orange drink bottle with label and shake it well.", + "Take the curved orange soda bottle using the left arm and give it a shake.", + "Hold the ridged orange bottle with grooves and shake it properly.", + "Use the left arm to grab the ridged orange bottle with grooves and shake properly.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Grab and shake the curved orange soda bottle using the left arm.", + "Grasp the orange drink bottle with label with the left arm and shake it.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Pick up the light and medium-sized bottle and shake it.", + "Grab the orange drink bottle with label carefully and shake.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Use the left arm to hold the smooth orange bottle and shake it.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Lift the smooth orange bottle with the left arm and shake.", + "Lift the orange drink bottle with label and shake it gently.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Secure the medium bottle with colorful label and perform a shake.", + "Pick the orange bottle and perform shaking motion.", + "Grab the smooth orange bottle and shake it steadily.", + "Utilize the left arm to hold the medium bottle with colorful label and shake it.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Lift the orange drink bottle with label with the left arm and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Grab the grooved orange drink bottle using the left arm, then shake.", + "Shake the medium bottle with colorful label after grabbing it.", + "Pick the bottle for holding drinks up using the left arm and shake it.", + "Lift the cylindrical orange plastic bottle and shake it thoroughly.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Secure the bottle for holding drinks, shake it, and place it down.", + "Shake the smooth orange bottle after holding it firmly.", + "Shake the the bottle for holding drinks properly after lifting.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Use the left arm to pick and shake the bottle for holding drinks.", + "Grab the ridged orange bottle with grooves with the left arm and shake.", + "Shake the cylindrical orange plastic bottle after lifting it.", + "With the left arm, pick the curved orange soda bottle and shake properly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Hold the orange bottle steady, then shake it.", + "Pick the curved orange soda bottle up with the left arm and shake.", + "Pick the ridged orange bottle with grooves, shake it with the left arm.", + "Grip the bottle for holding drinks using the left arm and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Using the left arm, shake the orange bottle and then place it back.", + "Use the left arm to grab the round-bottom bottle with white cap and shake it.", + "Shake the round-bottom bottle with white cap using the left arm after grabbing.", + "Lift the smooth orange bottle with the left arm and give it a shake.", + "Shake the grooved orange drink bottle after grabbing it.", + "Pick up the orange bottle and shake it well.", + "Take the medium bottle with colorful label using the left arm and give it a shake.", + "Hold the curved orange soda bottle and shake it properly.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Use the left arm to lift and shake the orange bottle." + ], + "unseen": [ + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode415.json b/shake_bottle/ur5_randomized_500/instructions/episode415.json new file mode 100644 index 0000000000000000000000000000000000000000..bb9629e9f8658d766fdd9c0670103a3f5c364387 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode415.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth plastic bottle for beverages with the right arm and shake.", + "Shake the brown bottle with green screw-on cap after holding it firmly.", + "Grab the bottle with tapered cylindrical shape using the right arm, then shake.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Pick the bottle with green cap, shake it with the right arm.", + "Using the right arm, shake the bottle with tapered cylindrical shape and then place it back.", + "Lift the bottle with tapered cylindrical shape with the right arm and shake it.", + "Hold the plastic bottle with ribbed pattern steady, then shake it.", + "Use the right arm to pick and shake the brown bottle with white printed label.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Use the right arm to grab the small brown plastic bottle and shake it.", + "With the right arm, pick the brown bottle with green screw-on cap and shake properly.", + "Use the right arm to hold the brown bottle with green screw-on cap and shake it.", + "Pick the brown bottle with green screw-on cap and perform shaking motion.", + "Shake the small brown plastic bottle after grabbing it.", + "Hold the small drink bottle with logo, shake it briefly.", + "Lift the plastic bottle with ribbed pattern and shake it thoroughly.", + "Hold and shake the the small drink bottle with logo carefully.", + "Shake the small brown plastic bottle after grabbing it.", + "Grab the brown bottle with white printed label and shake it steadily.", + "Pick up the brown bottle with green screw-on cap and shake it well.", + "Pick the small brown plastic bottle up using the right arm and shake it.", + "Secure the bottle with green cap, shake it, and place it down.", + "Grab the bottle with tapered cylindrical shape and give it a shake.", + "Shake the small brown plastic bottle using the right arm after grabbing.", + "Shake the green-capped bottle after lifting it.", + "Secure the hand-sized bottle with grooves and perform a shake.", + "Lift the bottle with tapered cylindrical shape and shake it gently.", + "Shake the green-capped bottle thoroughly after grabbing it.", + "Grab the smooth plastic bottle for beverages and move it to shake.", + "Grab and shake the bottle with tapered cylindrical shape using the right arm.", + "Use the right arm to lift and shake the plastic bottle with ribbed pattern.", + "Hold the brown bottle with white printed label and shake it properly.", + "Grab the hand-sized bottle with grooves firmly, shake it, and put it down.", + "Pick the small brown plastic bottle up with the right arm and shake.", + "Hold the bottle with green cap with the right arm and shake lightly.", + "Grasp the bottle with green cap with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with green cap.", + "Lift the plastic bottle with ribbed pattern with the right arm and give it a shake.", + "Lift the brown bottle with the right arm and shake.", + "Lift up the hand-sized bottle with grooves using the right arm, then shake.", + "Pick up the smooth plastic bottle for beverages and shake it.", + "Shake the the cylindrical bottle with white label properly after lifting.", + "Take the brown bottle with white printed label using the right arm and give it a shake.", + "Catch the green-capped bottle and shake it instantly.", + "Use the right arm to grab the bottle with green cap and shake properly.", + "Shake the hand-sized bottle with grooves firmly after grabbing.", + "Utilize the right arm to hold the cylindrical bottle with white label and shake it.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Grip the bottle with tapered cylindrical shape using the right arm and shake.", + "Grab the small brown plastic bottle with the right arm and shake.", + "Shake the smooth plastic bottle for beverages after holding it firmly.", + "Grab the small drink bottle with logo using the right arm, then shake.", + "Grab the small brown plastic bottle carefully and shake.", + "Pick the brown bottle, shake it with the right arm.", + "Using the right arm, shake the brown bottle with white printed label and then place it back.", + "Lift the cylindrical bottle with white label with the right arm and shake it.", + "Hold the smooth plastic bottle for beverages steady, then shake it.", + "Use the right arm to pick and shake the small brown plastic bottle.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Use the right arm to grab the small brown plastic bottle and shake it.", + "With the right arm, pick the brown bottle and shake properly.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Pick the brown bottle and perform shaking motion.", + "Shake the small brown plastic bottle after grabbing it.", + "Hold the cylindrical bottle with white label, shake it briefly.", + "Lift the brown bottle and shake it thoroughly.", + "Hold and shake the the bottle with tapered cylindrical shape carefully.", + "Shake the bottle with green cap after grabbing it.", + "Grab the brown bottle with green screw-on cap and shake it steadily.", + "Pick up the hand-sized bottle with grooves and shake it well.", + "Pick the small brown plastic bottle up using the right arm and shake it.", + "Secure the brown bottle, shake it, and place it down.", + "Grab the smooth plastic bottle for beverages and give it a shake.", + "Shake the hand-sized bottle with grooves using the right arm after grabbing.", + "Shake the plastic bottle with ribbed pattern after lifting it.", + "Secure the smooth plastic bottle for beverages and perform a shake.", + "Lift the green-capped bottle and shake it gently.", + "Shake the smooth plastic bottle for beverages thoroughly after grabbing it.", + "Grab the brown bottle with green screw-on cap and move it to shake.", + "Grab and shake the brown bottle with green screw-on cap using the right arm.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Hold the plastic bottle with ribbed pattern and shake it properly.", + "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.", + "Pick the plastic bottle with ribbed pattern up with the right arm and shake.", + "Hold the brown bottle with white printed label with the right arm and shake lightly.", + "Grasp the bottle with tapered cylindrical shape with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Lift the plastic bottle with ribbed pattern with the right arm and give it a shake.", + "Lift the green-capped bottle with the right arm and shake.", + "Lift up the brown bottle using the right arm, then shake.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Shake the the bottle with tapered cylindrical shape properly after lifting.", + "Take the smooth plastic bottle for beverages using the right arm and give it a shake.", + "Catch the brown bottle with white printed label and shake it instantly.", + "Use the right arm to grab the green-capped bottle and shake properly.", + "Shake the green-capped bottle firmly after grabbing.", + "Utilize the right arm to hold the brown bottle with green screw-on cap and shake it.", + "Shake the bottle with green cap after grabbing it.", + "Grip the green-capped bottle using the right arm and shake." + ], + "unseen": [ + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode416.json b/shake_bottle/ur5_randomized_500/instructions/episode416.json new file mode 100644 index 0000000000000000000000000000000000000000..2e861d6ca5b3087f4f79ff7e6737f104d41522ee --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode416.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium bottle with orange lid and shake it well.", + "Shake the medium orange bottle after grabbing it.", + "Shake the yellow label bottle using the left arm after grabbing.", + "Grab the white and orange plastic bottle using the left arm, then shake.", + "Use the left arm to pick and shake the plastic bottle.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Catch the bottle with ribbed orange bottom and shake it instantly.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "Lift the bottle with orange cap with the left arm and give it a shake.", + "Pick the yellow label bottle and perform shaking motion.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab and shake the medium orange bottle using the left arm.", + "Use the left arm to lift and shake the medium orange bottle.", + "Hold the orange bottle, shake it briefly.", + "Lift the yellow label bottle with the left arm and shake it.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Shake the orange and white bottle with cap after grabbing it.", + "Shake the the medium orange bottle properly after lifting.", + "Grab the drinking bottle with yellow label with the left arm and shake.", + "Shake the yellow label bottle firmly after grabbing.", + "Lift the medium bottle with orange lid with the left arm and shake.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Pick the drinking bottle with yellow label, shake it with the left arm.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Shake the cylindrical orange and white bottle after holding it firmly.", + "Use the left arm to grab the yellow label bottle and shake it.", + "Pick the cylindrical orange and white bottle up with the left arm and shake.", + "Grip the bottle with ribbed orange bottom using the left arm and shake.", + "Secure the white and orange plastic bottle, shake it, and place it down.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the smooth plastic bottle carefully and shake.", + "Grasp the medium bottle with orange lid with the left arm and shake it.", + "Hold the orange bottle and shake it properly.", + "Take the orange bottle using the left arm and give it a shake.", + "Using the left arm, shake the drinking bottle with yellow label and then place it back.", + "Hold the medium orange bottle steady, then shake it.", + "Hold the yellow label bottle with the left arm and shake lightly.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Pick up the plastic bottle and shake it.", + "Lift up the medium orange bottle using the left arm, then shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Grab the medium bottle with orange lid and shake it steadily.", + "Secure the bottle with orange cap and perform a shake.", + "Shake the bottle with orange cap after lifting it.", + "Lift the bottle with orange cap and shake it gently.", + "Hold and shake the the plastic bottle carefully.", + "Shake the medium bottle with orange lid after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Pick up the orange and white bottle with cap and shake it well.", + "Shake the medium orange bottle after grabbing it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Grab the orange and white bottle with cap using the left arm, then shake.", + "Use the left arm to pick and shake the orange bottle.", + "With the left arm, pick the medium bottle with orange lid and shake properly.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Pick the orange and white bottle with cap and perform shaking motion.", + "Use the left arm to lift and shake the orange bottle.", + "Grab and shake the cylindrical orange and white bottle using the left arm.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Hold the orange bottle, shake it briefly.", + "Lift the cylindrical orange and white bottle with the left arm and shake it.", + "Pick the medium bottle with orange lid up using the left arm and shake it.", + "Grab the medium orange bottle and move it to shake.", + "Shake the orange bottle after grabbing it.", + "Shake the the bottle with orange cap properly after lifting.", + "Grab the orange bottle with the left arm and shake.", + "Shake the yellow label bottle firmly after grabbing.", + "Lift the cylindrical orange and white bottle with the left arm and shake.", + "Use the left arm to grab the medium bottle with orange lid and shake properly.", + "Pick the bottle with ribbed orange bottom, shake it with the left arm.", + "Grab the medium orange bottle firmly, shake it, and put it down.", + "Shake the orange and white bottle with cap after holding it firmly.", + "Use the left arm to grab the medium orange bottle and shake it.", + "Pick the yellow label bottle up with the left arm and shake.", + "Grip the orange and white bottle with cap using the left arm and shake.", + "Secure the bottle with orange cap, shake it, and place it down.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Grab the bottle with ribbed orange bottom carefully and shake.", + "Grasp the plastic bottle with the left arm and shake it.", + "Hold the drinking bottle with yellow label and shake it properly.", + "Take the medium bottle with orange lid using the left arm and give it a shake.", + "Using the left arm, shake the orange and white bottle with cap and then place it back.", + "Hold the cylindrical orange and white bottle steady, then shake it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Pick up the plastic bottle and shake it.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Lift the white and orange plastic bottle and shake it thoroughly.", + "Utilize the left arm to hold the white and orange plastic bottle and shake it.", + "Grab the smooth plastic bottle and shake it steadily.", + "Secure the yellow label bottle and perform a shake.", + "Shake the medium bottle with orange lid after lifting it.", + "Lift the drinking bottle with yellow label and shake it gently.", + "Hold and shake the the smooth plastic bottle carefully.", + "Shake the yellow label bottle after grabbing it.", + "Use the left arm to hold the drinking bottle with yellow label and shake it." + ], + "unseen": [ + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode417.json b/shake_bottle/ur5_randomized_500/instructions/episode417.json new file mode 100644 index 0000000000000000000000000000000000000000..8dfeee52777aa1662cbfe97dcdf323b0a06ed0b9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode417.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with dark brown color using the right arm after grabbing.", + "Lift the smooth brown bottle and shake it gently.", + "Grab the rounded bottle with printed details and give it a shake.", + "Grab the bottle with dark brown color with the right arm and shake.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Use the right arm to lift and shake the bottle with dark brown color.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Grab and shake the smooth brown bottle using the right arm.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Use the right arm to pick and shake the bottle with white cap.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Use the right arm to grab the smooth brown bottle and shake properly.", + "Shake the medium plastic bottle after grabbing it.", + "Grab the rounded bottle with printed details using the right arm, then shake.", + "Shake the plastic bottle with printed label after grabbing it.", + "Lift up the smooth brown bottle using the right arm, then shake.", + "Grab the bottle with white cap and shake it steadily.", + "Use the right arm to hold the bottle with dark brown color and shake it.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.", + "Pick up the rounded bottle with printed details and shake it.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with brown body and white top and shake it.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Grip the bottle with white cap using the right arm and shake.", + "Utilize the right arm to hold the smooth brown bottle and shake it.", + "Lift the smooth brown bottle with the right arm and shake it.", + "Secure the rounded bottle with printed details and perform a shake.", + "Pick the medium bottle with smooth texture up with the right arm and shake.", + "Shake the medium bottle with smooth texture after holding it firmly.", + "Shake the the smooth brown bottle properly after lifting.", + "Take the white-capped brown cylindrical bottle using the right arm and give it a shake.", + "Shake the bottle with white cap after grabbing it.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "Using the right arm, shake the bottle with dark brown color and then place it back.", + "Pick the cylindrical bottle with narrow neck up using the right arm and shake it.", + "Pick the medium plastic bottle and perform shaking motion.", + "Pick up the medium bottle with smooth texture and shake it well.", + "With the right arm, pick the handheld brown bottle with white lid and shake properly.", + "Hold the cylindrical bottle with narrow neck with the right arm and shake lightly.", + "Pick the rounded bottle with printed details, shake it with the right arm.", + "Grab the rounded bottle with printed details and move it to shake.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Grab the rounded bottle with printed details carefully and shake.", + "Hold the medium plastic bottle steady, then shake it.", + "Shake the medium plastic bottle after lifting it.", + "Shake the handheld brown bottle with white lid using the right arm after grabbing.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Grab the bottle with dark brown color and give it a shake.", + "Grab the white-capped brown cylindrical bottle with the right arm and shake.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Grab and shake the plastic bottle for liquids using the right arm.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Use the right arm to pick and shake the bottle with brown body and white top.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Use the right arm to grab the plastic bottle with printed label and shake properly.", + "Shake the bottle with dark brown color after grabbing it.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Grab the smooth brown bottle and shake it steadily.", + "Use the right arm to hold the bottle with dark brown color and shake it.", + "Lift the plastic bottle with printed label with the right arm and shake.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Lift the rounded bottle with printed details with the right arm and give it a shake.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Hold and shake the the plastic bottle with printed label carefully.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Use the right arm to grab the bottle with brown body and white top and shake it.", + "Hold the rounded bottle with printed details, shake it briefly.", + "Grip the bottle with brown body and white top using the right arm and shake.", + "Utilize the right arm to hold the medium plastic bottle and shake it.", + "Lift the medium plastic bottle with the right arm and shake it.", + "Secure the smooth brown bottle and perform a shake.", + "Pick the plastic bottle for liquids up with the right arm and shake.", + "Shake the medium bottle with smooth texture after holding it firmly.", + "Shake the the medium plastic bottle properly after lifting.", + "Take the white-capped brown cylindrical bottle using the right arm and give it a shake.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Hold the cylindrical bottle with narrow neck and shake it properly.", + "Using the right arm, shake the plastic bottle for liquids and then place it back.", + "Pick the white-capped brown cylindrical bottle up using the right arm and shake it.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Pick up the plastic bottle for liquids and shake it well.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Hold the plastic bottle with printed label with the right arm and shake lightly.", + "Pick the smooth brown bottle, shake it with the right arm.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Lift the bottle with white cap and shake it thoroughly.", + "Grab the bottle with white cap carefully and shake.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Shake the handheld brown bottle with white lid after lifting it." + ], + "unseen": [ + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode418.json b/shake_bottle/ur5_randomized_500/instructions/episode418.json new file mode 100644 index 0000000000000000000000000000000000000000..d775a51303d535a5c4484218eec6a82296140adf --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode418.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the cylindrical bottle with narrow neck up with the left arm and shake.", + "Shake the the medium plastic bottle properly after lifting.", + "Grip the white-capped brown cylindrical bottle using the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Hold the medium plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the plastic bottle with printed label.", + "Hold the plastic bottle for liquids, shake it briefly.", + "Shake the white-capped brown cylindrical bottle after lifting it.", + "Pick up the bottle with brown body and white top and shake it.", + "Shake the medium bottle with smooth texture thoroughly after grabbing it.", + "Use the left arm to grab the handheld brown bottle with white lid and shake properly.", + "Grab the smooth brown bottle carefully and shake.", + "Hold and shake the the cylindrical bottle with narrow neck carefully.", + "Lift the white-capped brown cylindrical bottle with the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle for liquids and shake it.", + "Secure the handheld brown bottle with white lid and perform a shake.", + "Hold the medium plastic bottle and shake it properly.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Pick up the bottle with dark brown color and shake it well.", + "Shake the handheld brown bottle with white lid using the left arm after grabbing.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Grab the handheld brown bottle with white lid and shake it steadily.", + "Lift the handheld brown bottle with white lid with the left arm and shake it.", + "Lift the white-capped brown cylindrical bottle and shake it gently.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Grasp the plastic bottle for liquids with the left arm and shake it.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Grab the handheld brown bottle with white lid with the left arm and shake.", + "Utilize the left arm to hold the medium plastic bottle and shake it.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Grab and shake the medium bottle with smooth texture using the left arm.", + "Grab the plastic bottle for liquids using the left arm, then shake.", + "Grab the bottle with white cap and give it a shake.", + "Hold the smooth brown bottle steady, then shake it.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Shake the medium plastic bottle after holding it firmly.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Using the left arm, shake the white-capped brown cylindrical bottle and then place it back.", + "Lift the medium bottle with smooth texture with the left arm and shake.", + "With the left arm, pick the cylindrical bottle with narrow neck and shake properly.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Secure the rounded bottle with printed details, shake it, and place it down.", + "Pick the smooth brown bottle up using the left arm and shake it.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Use the left arm to pick and shake the cylindrical bottle with narrow neck.", + "Lift up the handheld brown bottle with white lid using the left arm, then shake.", + "Pick the medium plastic bottle up with the left arm and shake.", + "Shake the the bottle with white cap properly after lifting.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "Shake the plastic bottle with printed label after grabbing it.", + "Pick the medium plastic bottle, shake it with the left arm.", + "Hold the smooth brown bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "Shake the bottle with brown body and white top after lifting it.", + "Pick up the bottle with white cap and shake it.", + "Shake the rounded bottle with printed details thoroughly after grabbing it.", + "Use the left arm to grab the plastic bottle with printed label and shake properly.", + "Grab the white-capped brown cylindrical bottle carefully and shake.", + "Hold and shake the the white-capped brown cylindrical bottle carefully.", + "Lift the white-capped brown cylindrical bottle with the left arm and give it a shake.", + "Use the left arm to grab the smooth brown bottle and shake it.", + "Secure the bottle with white cap and perform a shake.", + "Hold the plastic bottle with printed label and shake it properly.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Pick up the smooth brown bottle and shake it well.", + "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.", + "Grab the bottle with brown body and white top and move it to shake.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Lift the cylindrical bottle with narrow neck with the left arm and shake it.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.", + "Shake the bottle with white cap after grabbing it.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Catch the bottle with white cap and shake it instantly.", + "Grab the medium bottle with smooth texture with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle for liquids and shake it.", + "Shake the white-capped brown cylindrical bottle firmly after grabbing.", + "Grab and shake the bottle with brown body and white top using the left arm.", + "Grab the bottle with white cap using the left arm, then shake.", + "Grab the smooth brown bottle and give it a shake.", + "Hold the medium plastic bottle steady, then shake it.", + "Pick the bottle with brown body and white top and perform shaking motion.", + "Shake the bottle with dark brown color after holding it firmly.", + "Use the left arm to hold the medium bottle with smooth texture and shake it.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Using the left arm, shake the white-capped brown cylindrical bottle and then place it back.", + "Lift the bottle with brown body and white top with the left arm and shake.", + "With the left arm, pick the cylindrical bottle with narrow neck and shake properly.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Pick the white-capped brown cylindrical bottle up using the left arm and shake it.", + "Lift the handheld brown bottle with white lid and shake it thoroughly.", + "Use the left arm to pick and shake the bottle with white cap.", + "Lift up the medium bottle with smooth texture using the left arm, then shake." + ], + "unseen": [ + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode419.json b/shake_bottle/ur5_randomized_500/instructions/episode419.json new file mode 100644 index 0000000000000000000000000000000000000000..137720d50009047c80b05995f7aa9a086f1dbde9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode419.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the plastic bottle with ghost print using the left arm after grabbing.", + "Grip the milk-bottle shape design using the left arm and shake.", + "Use the left arm to lift and shake the milk-bottle shape design.", + "Pick the smooth cylindrical bottle up with the left arm and shake.", + "Secure the rounded body bottle made of plastic and perform a shake.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Lift the medium-sized plastic bottle and shake it gently.", + "Use the left arm to grab the hand-sized bottle with screw cap and shake properly.", + "Shake the smooth cylindrical bottle after lifting it.", + "Lift the bottle with cute ghost drawing and shake it thoroughly.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Lift the bottle shaped like small cylinder with the left arm and give it a shake.", + "Lift the smooth cylindrical bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized bottle with screw cap and shake it.", + "Catch the hand-sized bottle with screw cap and shake it instantly.", + "Hold and shake the the smooth cylindrical bottle carefully.", + "Lift the bottle shaped like small cylinder with the left arm and shake it.", + "Using the left arm, shake the bottle with cute ghost drawing and then place it back.", + "Pick the light gray colored container bottle and perform shaking motion.", + "Grab the medium-sized plastic bottle and give it a shake.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Grab the smooth surface bottle with gray shade with the left arm and shake.", + "Hold the light gray colored container bottle, shake it briefly.", + "Utilize the left arm to hold the plastic bottle with ghost print and shake it.", + "Shake the the bottle with cute ghost drawing properly after lifting.", + "Use the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Use the left arm to lift and shake the milk-bottle shape design.", + "Lift up the hand-sized bottle with screw cap using the left arm, then shake.", + "Use the left arm to pick and shake the medium cylinder-shaped bottle.", + "Shake the hand-sized bottle with screw cap firmly after grabbing.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Grab and shake the rounded body bottle made of plastic using the left arm.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Grab the smooth cylindrical bottle and shake it steadily.", + "Shake the smooth cylindrical bottle after holding it firmly.", + "Grab the medium cylinder-shaped bottle using the left arm, then shake.", + "Pick up the smooth cylindrical bottle and shake it.", + "Hold the milk-bottle shape design with the left arm and shake lightly.", + "Grab the light gray colored container bottle and move it to shake.", + "Shake the medium cylinder-shaped bottle thoroughly after grabbing it.", + "Pick the hand-sized bottle with screw cap up using the left arm and shake it.", + "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.", + "Take the smooth cylindrical bottle using the left arm and give it a shake.", + "Pick the medium-sized plastic bottle, shake it with the left arm.", + "With the left arm, pick the gray bottle with slight shine and shake properly.", + "Pick up the hand-sized bottle with screw cap and shake it well.", + "Hold the rounded body bottle made of plastic steady, then shake it.", + "Secure the smooth surface bottle with gray shade, shake it, and place it down.", + "Hold the smooth cylindrical bottle and shake it properly.", + "Grasp the bottle shaped like small cylinder with the left arm and shake it.", + "Shake the bottle shaped like small cylinder using the left arm after grabbing.", + "Grip the smooth cylindrical bottle using the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Pick the milk-bottle shape design up with the left arm and shake.", + "Secure the rounded body bottle made of plastic and perform a shake.", + "Shake the gray bottle with slight shine after grabbing it.", + "Lift the plastic bottle with ghost print and shake it gently.", + "Use the left arm to grab the milk-bottle shape design and shake properly.", + "Shake the medium-sized plastic bottle after lifting it.", + "Lift the smooth cylindrical bottle and shake it thoroughly.", + "Grab the milk-bottle shape design carefully and shake.", + "Lift the hand-sized bottle with screw cap with the left arm and give it a shake.", + "Lift the medium cylinder-shaped bottle with the left arm and shake.", + "Use the left arm to grab the light gray colored container bottle and shake it.", + "Catch the gray bottle with slight shine and shake it instantly.", + "Hold and shake the the bottle with cute ghost drawing carefully.", + "Lift the light gray colored container bottle with the left arm and shake it.", + "Using the left arm, shake the medium cylinder-shaped bottle and then place it back.", + "Pick the bottle with cute ghost drawing and perform shaking motion.", + "Grab the bottle shaped like small cylinder and give it a shake.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Grab the bottle with cute ghost drawing with the left arm and shake.", + "Hold the medium-sized plastic bottle, shake it briefly.", + "Utilize the left arm to hold the milk-bottle shape design and shake it.", + "Shake the the hand-sized bottle with screw cap properly after lifting.", + "Use the left arm to hold the plastic bottle with ghost print and shake it.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Lift up the smooth surface bottle with gray shade using the left arm, then shake.", + "Use the left arm to pick and shake the gray bottle with slight shine.", + "Shake the rounded body bottle made of plastic firmly after grabbing.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Grab and shake the plastic bottle with ghost print using the left arm.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Grab the milk-bottle shape design and shake it steadily.", + "Shake the smooth surface bottle with gray shade after holding it firmly.", + "Grab the medium cylinder-shaped bottle using the left arm, then shake.", + "Pick up the hand-sized bottle with screw cap and shake it.", + "Hold the smooth surface bottle with gray shade with the left arm and shake lightly.", + "Grab the bottle shaped like small cylinder and move it to shake.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Pick the bottle shaped like small cylinder up using the left arm and shake it.", + "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.", + "Take the bottle shaped like small cylinder using the left arm and give it a shake.", + "Pick the milk-bottle shape design, shake it with the left arm.", + "With the left arm, pick the smooth cylindrical bottle and shake properly.", + "Pick up the gray bottle with slight shine and shake it well.", + "Hold the medium cylinder-shaped bottle steady, then shake it.", + "Secure the hand-sized bottle with screw cap, shake it, and place it down.", + "Hold the medium cylinder-shaped bottle and shake it properly.", + "Grasp the bottle shaped like small cylinder with the left arm and shake it." + ], + "unseen": [ + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the light gray bottle and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode42.json b/shake_bottle/ur5_randomized_500/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..91430f1007b78a8d10e29bf9b181b035135600af --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the plastic bottle properly after lifting.", + "Take the orange bottle using the left arm and give it a shake.", + "Grab the round-bottom bottle with white cap using the left arm, then shake.", + "Shake the medium bottle with colorful label after grabbing it.", + "Use the left arm to grab the orange bottle and shake properly.", + "Shake the light and medium-sized bottle after lifting it.", + "Use the left arm to pick and shake the round-bottom bottle with white cap.", + "Hold the cylindrical orange plastic bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "With the left arm, pick the ridged orange bottle with grooves and shake properly.", + "Lift the curved orange soda bottle and shake it thoroughly.", + "Grab the curved orange soda bottle firmly, shake it, and put it down.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Lift the orange bottle and shake it gently.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Grasp the cylindrical orange plastic bottle with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the cylindrical orange plastic bottle with the left arm and shake.", + "Utilize the left arm to hold the light and medium-sized bottle and shake it.", + "Secure the ridged orange bottle with grooves and perform a shake.", + "Pick the ridged orange bottle with grooves, shake it with the left arm.", + "Grab the curved orange soda bottle carefully and shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Pick up the smooth orange bottle and shake it well.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick up the orange drink bottle with label and shake it.", + "Grab the orange bottle and move it to shake.", + "Grab and shake the bottle for holding drinks using the left arm.", + "Pick the grooved orange drink bottle up using the left arm and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grab the light and medium-sized bottle and shake it steadily.", + "Grip the cylindrical orange plastic bottle using the left arm and shake.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Shake the orange bottle using the left arm after grabbing.", + "Pick the smooth orange bottle up with the left arm and shake.", + "Grab the round-bottom bottle with white cap with the left arm and shake.", + "Using the left arm, shake the light and medium-sized bottle and then place it back.", + "Hold and shake the the round-bottom bottle with white cap carefully.", + "Hold the smooth orange bottle and shake it properly.", + "Grab the smooth orange bottle and give it a shake.", + "Use the left arm to grab the orange drink bottle with label and shake it.", + "Shake the smooth orange bottle firmly after grabbing.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Lift the grooved orange drink bottle with the left arm and shake it.", + "Lift the grooved orange drink bottle with the left arm and give it a shake.", + "Hold the round-bottom bottle with white cap with the left arm and shake lightly.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Lift up the medium bottle with colorful label using the left arm, then shake.", + "Shake the ridged orange bottle with grooves thoroughly after grabbing it.", + "Shake the the curved orange soda bottle properly after lifting.", + "Take the orange bottle using the left arm and give it a shake.", + "Grab the round-bottom bottle with white cap using the left arm, then shake.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Use the left arm to grab the smooth orange bottle and shake properly.", + "Shake the cylindrical orange plastic bottle after lifting it.", + "Use the left arm to pick and shake the bottle for holding drinks.", + "Hold the plastic bottle steady, then shake it.", + "Use the left arm to lift and shake the grooved orange drink bottle.", + "With the left arm, pick the curved orange soda bottle and shake properly.", + "Lift the orange drink bottle with label and shake it thoroughly.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Shake the smooth orange bottle after holding it firmly.", + "Lift the curved orange soda bottle and shake it gently.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Grasp the medium bottle with colorful label with the left arm and shake it.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Lift the round-bottom bottle with white cap with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Secure the plastic bottle and perform a shake.", + "Pick the cylindrical orange plastic bottle, shake it with the left arm.", + "Grab the light and medium-sized bottle carefully and shake.", + "Use the left arm to hold the ridged orange bottle with grooves and shake it.", + "Pick the orange bottle and perform shaking motion.", + "Pick up the medium bottle with colorful label and shake it well.", + "Shake the orange drink bottle with label after grabbing it.", + "Pick up the orange drink bottle with label and shake it.", + "Grab the smooth orange bottle and move it to shake.", + "Grab and shake the plastic bottle using the left arm.", + "Pick the ridged orange bottle with grooves up using the left arm and shake it.", + "Shake the medium bottle with colorful label after grabbing it.", + "Grab the orange drink bottle with label and shake it steadily.", + "Grip the cylindrical orange plastic bottle using the left arm and shake.", + "Secure the light and medium-sized bottle, shake it, and place it down.", + "Shake the cylindrical orange plastic bottle using the left arm after grabbing.", + "Pick the light and medium-sized bottle up with the left arm and shake.", + "Grab the bottle for holding drinks with the left arm and shake.", + "Using the left arm, shake the light and medium-sized bottle and then place it back.", + "Hold and shake the the orange drink bottle with label carefully.", + "Hold the curved orange soda bottle and shake it properly.", + "Grab the cylindrical orange plastic bottle and give it a shake.", + "Use the left arm to grab the light and medium-sized bottle and shake it.", + "Shake the ridged orange bottle with grooves firmly after grabbing.", + "Catch the cylindrical orange plastic bottle and shake it instantly.", + "Lift the plastic bottle with the left arm and shake it.", + "Lift the curved orange soda bottle with the left arm and give it a shake.", + "Hold the round-bottom bottle with white cap with the left arm and shake lightly.", + "Hold the medium bottle with colorful label, shake it briefly.", + "Lift up the orange drink bottle with label using the left arm, then shake.", + "Shake the curved orange soda bottle thoroughly after grabbing it." + ], + "unseen": [ + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the bottle with white cap.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode420.json b/shake_bottle/ur5_randomized_500/instructions/episode420.json new file mode 100644 index 0000000000000000000000000000000000000000..f534d8c88a992a44fd18534704b0634971a69aee --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode420.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the liquid container with orange body, shake it with the left arm.", + "Grab the orange bottle and move it to shake.", + "Hold the small bottle with bright yellow lid with the left arm and shake lightly.", + "Shake the orange bottle using the left arm after grabbing.", + "Use the left arm to hold the handheld medium-sized liquid bottle and shake it.", + "Shake the liquid container with orange body firmly after grabbing.", + "Shake the cylindrical orange bottle with smooth surface thoroughly after grabbing it.", + "Grab the yellow-capped orange plastic bottle firmly, shake it, and put it down.", + "Shake the the orange bottle properly after lifting.", + "Pick the small bottle with bright yellow lid up with the left arm and shake.", + "Lift the rounded orange bottle with yellow top with the left arm and shake.", + "Lift up the rounded bottom orange plastic bottle using the left arm, then shake.", + "Using the left arm, shake the orange bottle and then place it back.", + "Secure the handheld medium-sized liquid bottle, shake it, and place it down.", + "Grip the rounded bottom orange plastic bottle using the left arm and shake.", + "Grasp the yellow-capped bottle for beverages with the left arm and shake it.", + "Take the orange bottle using the left arm and give it a shake.", + "Grab the liquid container with orange body and shake it steadily.", + "Use the left arm to grab the smooth orange cylindrical bottle and shake it.", + "Hold the liquid container with orange body steady, then shake it.", + "Lift the liquid container with orange body with the left arm and give it a shake.", + "Grab the rounded orange bottle with yellow top carefully and shake.", + "Hold the orange bottle, shake it briefly.", + "Grab the yellow-capped bottle for beverages with the left arm and shake.", + "Use the left arm to lift and shake the yellow-capped bottle for beverages.", + "Use the left arm to grab the yellow-capped bottle for beverages and shake properly.", + "Pick up the yellow-capped orange plastic bottle and shake it.", + "Shake the rounded orange bottle with yellow top after grabbing it.", + "With the left arm, pick the yellow-capped bottle for beverages and shake properly.", + "Shake the handheld medium-sized liquid bottle after lifting it.", + "Utilize the left arm to hold the rounded bottom orange plastic bottle and shake it.", + "Use the left arm to lift and shake the liquid container with orange body.", + "Shake the cylindrical orange bottle with smooth surface after grabbing it.", + "Grab and shake the orange bottle using the left arm.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Use the left arm to pick and shake the cylindrical orange bottle with smooth surface.", + "Lift the rounded bottom orange plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Secure the smooth orange cylindrical bottle and perform a shake.", + "Grab the cylindrical orange bottle with smooth surface using the left arm, then shake.", + "Catch the orange bottle and shake it instantly.", + "Lift the orange bottle and shake it gently.", + "Grab the yellow-capped bottle for beverages and give it a shake.", + "Pick the cylindrical orange bottle with smooth surface up using the left arm and shake it.", + "Hold and shake the the yellow-capped bottle for beverages carefully.", + "Hold the bottle with yellow cap and shake it properly.", + "Lift the yellow-capped orange plastic bottle with the left arm and shake it.", + "Shake the liquid container with orange body after grabbing it.", + "Shake the yellow-capped bottle for beverages after holding it firmly.", + "Pick up the orange bottle with bold labeling and shake it well.", + "Pick the cylindrical orange bottle with smooth surface, shake it with the left arm.", + "Grab the orange bottle with bold labeling and move it to shake.", + "Hold the orange bottle with the left arm and shake lightly.", + "Shake the handheld medium-sized liquid bottle using the left arm after grabbing.", + "Use the left arm to hold the yellow-capped bottle for beverages and shake it.", + "Shake the yellow-capped bottle for beverages firmly after grabbing.", + "Shake the liquid container with orange body thoroughly after grabbing it.", + "Grab the handheld medium-sized liquid bottle firmly, shake it, and put it down.", + "Shake the the rounded bottom orange plastic bottle properly after lifting.", + "Pick the handheld medium-sized liquid bottle up with the left arm and shake.", + "Lift the handheld medium-sized liquid bottle with the left arm and shake.", + "Lift up the small bottle with bright yellow lid using the left arm, then shake.", + "Using the left arm, shake the liquid container with orange body and then place it back.", + "Secure the small bottle with bright yellow lid, shake it, and place it down.", + "Grip the yellow-capped bottle for beverages using the left arm and shake.", + "Grasp the yellow-capped orange plastic bottle with the left arm and shake it.", + "Take the yellow-capped bottle for beverages using the left arm and give it a shake.", + "Grab the orange bottle and shake it steadily.", + "Use the left arm to grab the rounded bottom orange plastic bottle and shake it.", + "Hold the yellow-capped orange plastic bottle steady, then shake it.", + "Lift the orange bottle with the left arm and give it a shake.", + "Grab the yellow-capped bottle for beverages carefully and shake.", + "Hold the orange bottle, shake it briefly.", + "Grab the liquid container with orange body with the left arm and shake.", + "Use the left arm to lift and shake the orange bottle with bold labeling.", + "Use the left arm to grab the bottle with yellow cap and shake properly.", + "Pick up the orange bottle and shake it.", + "Shake the orange bottle with bold labeling after grabbing it.", + "With the left arm, pick the rounded bottom orange plastic bottle and shake properly.", + "Shake the yellow-capped bottle for beverages after lifting it.", + "Utilize the left arm to hold the rounded bottom orange plastic bottle and shake it.", + "Use the left arm to lift and shake the handheld medium-sized liquid bottle.", + "Shake the yellow-capped bottle for beverages after grabbing it.", + "Grab and shake the rounded bottom orange plastic bottle using the left arm.", + "Pick the rounded bottom orange plastic bottle and perform shaking motion.", + "Use the left arm to pick and shake the small bottle with bright yellow lid.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Use the left arm to lift and shake the cylindrical orange bottle with smooth surface.", + "Secure the rounded bottom orange plastic bottle and perform a shake.", + "Grab the yellow-capped orange plastic bottle using the left arm, then shake.", + "Catch the orange bottle with bold labeling and shake it instantly.", + "Lift the cylindrical orange bottle with smooth surface and shake it gently.", + "Grab the rounded bottom orange plastic bottle and give it a shake.", + "Pick the rounded bottom orange plastic bottle up using the left arm and shake it.", + "Hold and shake the the yellow-capped bottle for beverages carefully.", + "Hold the orange bottle and shake it properly.", + "Lift the bottle with yellow cap with the left arm and shake it.", + "Shake the yellow-capped bottle for beverages after grabbing it.", + "Shake the yellow-capped orange plastic bottle after holding it firmly.", + "Pick up the liquid container with orange body and shake it well." + ], + "unseen": [ + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium plastic bottle and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Grab the medium plastic bottle and give it a shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium bottle for liquids and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to grab the plastic orange bottle with rounded base and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.", + "Pick up the plastic orange bottle with rounded base with the left arm and shake.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Use the left arm to pick the plastic orange bottle with rounded base.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Grab the medium bottle for liquids and give it a shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium plastic bottle with the left arm and shake.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick up the plastic orange bottle with rounded base and shake it.", + "Pick and shake the the medium plastic bottle with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Grab the medium plastic bottle, shake it properly, then set it down.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the medium plastic bottle and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the medium bottle for liquids with the left arm.", + "Use the left arm to pick the medium bottle for liquids.", + "Shake the medium plastic bottle after picking it with the left arm.", + "Use the left arm to grab the medium plastic bottle and shake.", + "Grab the plastic orange bottle with rounded base and give it a shake.", + "Grab the medium bottle for liquids, shake it properly, then set it down.", + "Pick up the medium bottle for liquids with the left arm and shake.", + "Grab the plastic orange bottle with rounded base and shake it.", + "Pick up the medium plastic bottle and shake it.", + "Pick up the medium bottle for liquids and shake it.", + "Pick and shake the the plastic orange bottle with rounded base with the left arm.", + "Use the left arm to pick the medium plastic bottle.", + "Shake the plastic orange bottle with rounded base after picking it with the left arm.", + "Use the left arm to grab the medium bottle for liquids and shake.", + "Grab the medium bottle for liquids and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode421.json b/shake_bottle/ur5_randomized_500/instructions/episode421.json new file mode 100644 index 0000000000000000000000000000000000000000..201bfab236f48cb639f97f33d0dc57a1e64eca45 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode421.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium-sized orange bottle after holding it firmly.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Grip the cylindrical orange bottle with yellow top using the left arm and shake.", + "Shake the orange bottle after grabbing it.", + "Grab the bottle with printed label firmly, shake it, and put it down.", + "Shake the plastic bottle after grabbing it.", + "Shake the the orange cylindrical bottle properly after lifting.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Pick the bottle with yellow cap, shake it with the left arm.", + "Pick the orange bottle up using the left arm and shake it.", + "Hold the cylindrical orange bottle with yellow top steady, then shake it.", + "Use the left arm to lift and shake the bottle with narrow neck.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab and shake the plastic bottle with sealed yellow cap using the left arm.", + "Grab the plastic bottle with sealed yellow cap and give it a shake.", + "Hold and shake the the medium-sized orange bottle carefully.", + "Lift the bottle for liquids and shake it thoroughly.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.", + "Shake the smooth plastic bottle after lifting it.", + "Shake the medium-sized orange bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the orange bottle.", + "Utilize the left arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Lift the bottle with printed label with the left arm and give it a shake.", + "Grab the orange cylindrical bottle using the left arm, then shake.", + "Grasp the orange cylindrical bottle with the left arm and shake it.", + "Grab the bottle with narrow neck carefully and shake.", + "Pick up the bottle with printed label and shake it.", + "Use the left arm to lift and shake the bottle with narrow neck.", + "Use the left arm to hold the plastic bottle and shake it.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Lift the bottle with narrow neck and shake it gently.", + "Grab the cylindrical orange bottle with yellow top and shake it steadily.", + "Secure the orange cylindrical bottle and perform a shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.", + "Lift up the yellow-capped plastic bottle using the left arm, then shake.", + "Pick the medium-sized orange bottle up with the left arm and shake.", + "Lift the cylindrical orange bottle with yellow top with the left arm and shake.", + "Secure the orange bottle, shake it, and place it down.", + "Hold the bottle with printed label, shake it briefly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Using the left arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Pick up the plastic bottle with sealed yellow cap and shake it well.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Use the left arm to grab the yellow-capped plastic bottle and shake it.", + "Grab the cylindrical orange bottle with yellow top with the left arm and shake.", + "Shake the plastic bottle with sealed yellow cap after holding it firmly.", + "Use the left arm to lift and shake the yellow-capped plastic bottle.", + "Shake the yellow-capped plastic bottle firmly after grabbing.", + "Use the left arm to grab the orange bottle and shake properly.", + "Grip the plastic bottle with sealed yellow cap using the left arm and shake.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Grab the bottle with narrow neck firmly, shake it, and put it down.", + "Shake the plastic bottle after grabbing it.", + "Shake the the bottle for liquids properly after lifting.", + "Catch the orange bottle and shake it instantly.", + "Pick the plastic bottle, shake it with the left arm.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Hold the bottle with narrow neck steady, then shake it.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Hold the yellow-capped plastic bottle with the left arm and shake lightly.", + "Shake the bottle for liquids after grabbing it.", + "Grab and shake the plastic bottle using the left arm.", + "Grab the plastic bottle and give it a shake.", + "Hold and shake the the cylindrical orange bottle with yellow top carefully.", + "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.", + "Hold the bottle with yellow cap and shake it properly.", + "Lift the bottle for liquids with the left arm and shake it.", + "Shake the orange cylindrical bottle after lifting it.", + "Shake the bottle with yellow cap using the left arm after grabbing.", + "Use the left arm to pick and shake the orange cylindrical bottle.", + "Utilize the left arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Lift the yellow-capped plastic bottle with the left arm and give it a shake.", + "Grab the bottle with narrow neck using the left arm, then shake.", + "Grasp the yellow-capped plastic bottle with the left arm and shake it.", + "Grab the orange bottle carefully and shake.", + "Pick up the medium-sized orange bottle and shake it.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Use the left arm to hold the bottle with yellow cap and shake it.", + "Pick the plastic bottle with sealed yellow cap and perform shaking motion.", + "Lift the yellow-capped plastic bottle and shake it gently.", + "Grab the bottle for liquids and shake it steadily.", + "Secure the bottle with yellow cap and perform a shake.", + "Take the bottle with printed label using the left arm and give it a shake.", + "With the left arm, pick the medium-sized orange bottle and shake properly.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift the medium-sized orange bottle with the left arm and shake.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Using the left arm, shake the yellow-capped plastic bottle and then place it back.", + "Pick up the cylindrical orange bottle with yellow top and shake it well.", + "Grab the smooth plastic bottle and move it to shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Grab the plastic bottle with sealed yellow cap with the left arm and shake." + ], + "unseen": [ + "Use the left arm to pick the orange bottle with smooth texture.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the left arm to pick the handheld orange bottle.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Use the left arm to pick the label-covered orange bottle.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode422.json b/shake_bottle/ur5_randomized_500/instructions/episode422.json new file mode 100644 index 0000000000000000000000000000000000000000..148a8653234f3dbb85e4ceecd9c9d3aba7452385 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode422.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow bottle for liquid storage and shake it gently.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Grab the bottle for liquid using the right arm, then shake.", + "Shake the plastic bottle with curved sides after holding it firmly.", + "Pick up the smooth plastic bottle and shake it.", + "Lift the yellow bottle for liquid storage with the right arm and shake it.", + "Secure the plastic bottle and perform a shake.", + "Lift up the plastic bottle with curved sides using the right arm, then shake.", + "Grab the plastic bottle with curved sides and shake it steadily.", + "Shake the yellow bottle for liquid storage after lifting it.", + "Pick the plastic bottle with curved sides up using the right arm and shake it.", + "Grab the plastic bottle with the right arm and shake.", + "Utilize the right arm to hold the yellow bottle with blue label and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the handheld curvy bottle after grabbing it.", + "Hold the yellow bottle for liquid storage steady, then shake it.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle for liquid carefully and shake.", + "Pick the handheld curvy bottle, shake it with the right arm.", + "Use the right arm to grab the handheld curvy bottle and shake properly.", + "Secure the bottle with screw cap, shake it, and place it down.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Pick up the bottle with screw cap and shake it well.", + "Use the right arm to hold the handheld curvy bottle and shake it.", + "Take the yellow bottle for liquid storage using the right arm and give it a shake.", + "Grab the plastic bottle with curved sides and give it a shake.", + "Grab the bottle for liquid firmly, shake it, and put it down.", + "Shake the the handheld curvy bottle properly after lifting.", + "Grip the bottle with screw cap using the right arm and shake.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Use the right arm to pick and shake the yellow bottle with dark label.", + "Hold the bottle for liquid, shake it briefly.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Hold the smooth plastic bottle and shake it properly.", + "With the right arm, pick the bottle with screw cap and shake properly.", + "Hold the yellow bottle for liquid storage with the right arm and shake lightly.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Lift the plastic bottle with curved sides and shake it thoroughly.", + "Grab the plastic bottle with curved sides and move it to shake.", + "Grab and shake the yellow bottle using the right arm.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Lift the handheld curvy bottle with the right arm and shake.", + "Hold and shake the the plastic bottle carefully.", + "Using the right arm, shake the medium plastic bottle with cap and then place it back.", + "Pick the medium plastic bottle with cap up with the right arm and shake.", + "Catch the yellow bottle and shake it instantly.", + "Shake the bottle with screw cap firmly after grabbing.", + "Lift the bottle with screw cap with the right arm and give it a shake.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Lift the handheld curvy bottle and shake it gently.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the plastic bottle with curved sides using the right arm, then shake.", + "Shake the smooth plastic bottle after holding it firmly.", + "Pick up the handheld curvy bottle and shake it.", + "Lift the medium-sized bottle with the right arm and shake it.", + "Secure the yellow bottle for liquid storage and perform a shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grab the bottle with screw cap and shake it steadily.", + "Shake the plastic bottle after lifting it.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Grab the yellow bottle with the right arm and shake.", + "Utilize the right arm to hold the yellow bottle for liquid storage and shake it.", + "Shake the handheld curvy bottle thoroughly after grabbing it.", + "Shake the yellow bottle after grabbing it.", + "Hold the medium plastic bottle with cap steady, then shake it.", + "Use the right arm to lift and shake the handheld curvy bottle.", + "Shake the handheld curvy bottle after grabbing it.", + "Grab the medium-sized bottle carefully and shake.", + "Pick the yellow bottle with dark label, shake it with the right arm.", + "Use the right arm to grab the plastic bottle with curved sides and shake properly.", + "Secure the plastic bottle with curved sides, shake it, and place it down.", + "Use the right arm to grab the handheld curvy bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Use the right arm to hold the medium plastic bottle with cap and shake it.", + "Take the plastic bottle using the right arm and give it a shake.", + "Grab the handheld curvy bottle and give it a shake.", + "Grab the yellow bottle with dark label firmly, shake it, and put it down.", + "Shake the the bottle with screw cap properly after lifting.", + "Grip the bottle with screw cap using the right arm and shake.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Use the right arm to pick and shake the yellow bottle.", + "Hold the handheld curvy bottle, shake it briefly.", + "Use the right arm to lift and shake the yellow bottle with dark label.", + "Hold the yellow bottle and shake it properly.", + "With the right arm, pick the bottle for liquid and shake properly.", + "Hold the medium plastic bottle with cap with the right arm and shake lightly.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Lift the yellow bottle with dark label and shake it thoroughly.", + "Grab the yellow bottle and move it to shake.", + "Grab and shake the yellow bottle for liquid storage using the right arm.", + "Shake the yellow bottle with dark label after grabbing it.", + "Lift the yellow bottle with dark label with the right arm and shake.", + "Hold and shake the the plastic bottle with curved sides carefully.", + "Using the right arm, shake the yellow bottle with dark label and then place it back.", + "Pick the yellow bottle with dark label up with the right arm and shake.", + "Catch the medium-sized bottle and shake it instantly.", + "Shake the yellow bottle with dark label firmly after grabbing.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grasp the handheld curvy bottle with the right arm and shake it." + ], + "unseen": [ + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode423.json b/shake_bottle/ur5_randomized_500/instructions/episode423.json new file mode 100644 index 0000000000000000000000000000000000000000..35714d4041f761685af4ece1112623ed8434a632 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode423.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the yellow container with rounded edges.", + "Use the left arm to lift and shake the medium rectangular yellow bottle.", + "Pick up the yellow container with rounded edges and shake it.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Pick up the yellow bottle with a green design and shake it well.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Grab the bottle with white cap carefully and shake.", + "Grab the bottle with green label using the left arm, then shake.", + "Grip the bottle with green and white labels using the left arm and shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Pick the bottle with green and white labels up with the left arm and shake.", + "Use the left arm to grab the smooth bottle with rounded edges and shake it.", + "Grab and shake the plastic bottle using the left arm.", + "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the the bottle with white cap properly after lifting.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to pick and shake the yellow bottle with a green design.", + "Hold and shake the the bottle with green and white labels carefully.", + "Use the left arm to hold the bottle with green label and shake it.", + "Shake the bottle with green label thoroughly after grabbing it.", + "Take the bottle with a smooth plastic body using the left arm and give it a shake.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Hold the bottle with green label steady, then shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Secure the bottle with a smooth plastic body, shake it, and place it down.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Catch the yellow bottle with a green design and shake it instantly.", + "Pick the yellow plastic bottle with white top and perform shaking motion.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Pick the bottle with white cap, shake it with the left arm.", + "Shake the plastic bottle firmly after grabbing.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Hold the bottle with green and white labels, shake it briefly.", + "Shake the yellow bottle after holding it firmly.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Grab the smooth bottle with rounded edges with the left arm and shake.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake.", + "Lift the yellow container with rounded edges and shake it gently.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Grasp the bottle with a smooth plastic body with the left arm and shake it.", + "With the left arm, pick the smooth bottle with rounded edges and shake properly.", + "Grab the yellow container with rounded edges and move it to shake.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Lift the medium rectangular yellow bottle with the left arm and give it a shake.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Hold the yellow container with rounded edges and shake it properly.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Pick up the yellow bottle with a green design and shake it.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Pick up the plastic bottle and shake it well.", + "Shake the bottle with green label after grabbing it.", + "Grab the yellow bottle with a green design carefully and shake.", + "Grab the yellow bottle using the left arm, then shake.", + "Grip the yellow bottle using the left arm and shake.", + "Shake the bottle with white cap after grabbing it.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Use the left arm to grab the rectangular bottle with cylindrical neck and shake it.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Using the left arm, shake the bottle with green and white labels and then place it back.", + "Utilize the left arm to hold the bottle with a smooth plastic body and shake it.", + "Shake the the bottle with white cap properly after lifting.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Shake the bottle with a smooth plastic body thoroughly after grabbing it.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Hold the yellow container with rounded edges steady, then shake it.", + "Shake the bottle with green label using the left arm after grabbing.", + "Secure the yellow bottle, shake it, and place it down.", + "Use the left arm to grab the medium rectangular yellow bottle and shake properly.", + "Catch the yellow container with rounded edges and shake it instantly.", + "Pick the bottle with white cap and perform shaking motion.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Shake the yellow container with rounded edges after grabbing it.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Lift up the yellow plastic bottle with white top using the left arm, then shake.", + "Hold the smooth bottle with rounded edges, shake it briefly.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Lift the bottle with green label and shake it thoroughly.", + "Grab the yellow container with rounded edges with the left arm and shake.", + "Lift the yellow plastic bottle with white top with the left arm and shake.", + "Lift the yellow container with rounded edges and shake it gently.", + "Grab the yellow bottle with a green design and give it a shake.", + "Secure the yellow container with rounded edges and perform a shake.", + "Shake the plastic bottle after lifting it.", + "Grasp the bottle with white cap with the left arm and shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the bottle with green and white labels and move it to shake.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Lift the yellow container with rounded edges with the left arm and give it a shake.", + "Grab the bottle with a smooth plastic body and shake it steadily.", + "Hold the smooth bottle with rounded edges and shake it properly." + ], + "unseen": [ + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode424.json b/shake_bottle/ur5_randomized_500/instructions/episode424.json new file mode 100644 index 0000000000000000000000000000000000000000..7c51691e906f567648300232b5916e31b7bbdab8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode424.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the medium-sized bottle and shake it instantly.", + "Lift the yellow bottle and shake it gently.", + "Lift the yellow bottle with the left arm and shake it.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Hold the plastic bottle, shake it briefly.", + "Hold the bottle for liquid and shake it properly.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Pick the medium-sized bottle and perform shaking motion.", + "Grab the smooth plastic bottle and move it to shake.", + "Pick the bottle with screw cap up with the left arm and shake.", + "Pick the bottle for liquid up using the left arm and shake it.", + "Use the left arm to lift and shake the yellow bottle.", + "Grab and shake the bottle with screw cap using the left arm.", + "Shake the medium-sized bottle after grabbing it.", + "Use the left arm to hold the bottle for liquid and shake it.", + "Secure the yellow bottle for liquid storage and perform a shake.", + "Hold the yellow bottle with dark label with the left arm and shake lightly.", + "Use the left arm to pick and shake the bottle with screw cap.", + "Pick up the smooth plastic bottle and shake it.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold and shake the the bottle for liquid carefully.", + "Shake the bottle with screw cap after lifting it.", + "Hold the bottle with screw cap steady, then shake it.", + "Lift the medium-sized bottle with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the the bottle with screw cap properly after lifting.", + "Lift up the bottle with screw cap using the left arm, then shake.", + "Grip the yellow bottle using the left arm and shake.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the yellow bottle for liquid storage using the left arm, then shake.", + "Shake the bottle with screw cap after holding it firmly.", + "Pick up the yellow bottle and shake it well.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Grab the plastic bottle with curved sides and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Using the left arm, shake the plastic bottle with curved sides and then place it back.", + "Pick the plastic bottle with curved sides, shake it with the left arm.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Use the left arm to grab the plastic bottle with curved sides and shake properly.", + "Grab the bottle with screw cap firmly, shake it, and put it down.", + "Grab the plastic bottle with curved sides and shake it steadily.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Take the yellow bottle for liquid storage using the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle with curved sides and shake it.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Grab the yellow bottle carefully and shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Grasp the yellow bottle with blue label with the left arm and shake it.", + "Catch the plastic bottle with curved sides and shake it instantly.", + "Lift the yellow bottle with blue label and shake it gently.", + "Lift the yellow bottle with the left arm and shake it.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Hold the plastic bottle with curved sides, shake it briefly.", + "Hold the medium plastic bottle with cap and shake it properly.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Pick the medium plastic bottle with cap and perform shaking motion.", + "Grab the smooth plastic bottle and move it to shake.", + "Pick the bottle for liquid up with the left arm and shake.", + "Pick the plastic bottle with curved sides up using the left arm and shake it.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Grab and shake the yellow bottle with blue label using the left arm.", + "Shake the bottle for liquid after grabbing it.", + "Use the left arm to hold the yellow bottle with blue label and shake it.", + "Secure the yellow bottle and perform a shake.", + "Hold the yellow bottle with dark label with the left arm and shake lightly.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Pick up the handheld curvy bottle and shake it.", + "Utilize the left arm to hold the bottle for liquid and shake it.", + "Hold and shake the the plastic bottle with curved sides carefully.", + "Shake the handheld curvy bottle after lifting it.", + "Hold the bottle with screw cap steady, then shake it.", + "Lift the yellow bottle with blue label with the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Shake the the medium-sized bottle properly after lifting.", + "Lift up the yellow bottle using the left arm, then shake.", + "Grip the medium-sized bottle using the left arm and shake.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Secure the yellow bottle with blue label, shake it, and place it down.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Shake the handheld curvy bottle after holding it firmly.", + "Pick up the plastic bottle and shake it well.", + "Shake the bottle with screw cap after grabbing it.", + "Grab the yellow bottle and give it a shake.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Using the left arm, shake the handheld curvy bottle and then place it back.", + "Pick the yellow bottle with dark label, shake it with the left arm.", + "Use the left arm to lift and shake the plastic bottle with curved sides.", + "With the left arm, pick the handheld curvy bottle and shake properly.", + "Use the left arm to grab the yellow bottle with blue label and shake properly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the bottle with screw cap and shake it steadily.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Take the medium-sized bottle using the left arm and give it a shake.", + "Use the left arm to grab the yellow bottle with dark label and shake it.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Grab the medium plastic bottle with cap carefully and shake.", + "Shake the bottle for liquid using the left arm after grabbing.", + "Grasp the yellow bottle with dark label with the left arm and shake it." + ], + "unseen": [ + "Grab the smooth bottle with blue text and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to pick the smooth bottle with blue text.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to pick the yellow bottle with white cap.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle with white cap.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode425.json b/shake_bottle/ur5_randomized_500/instructions/episode425.json new file mode 100644 index 0000000000000000000000000000000000000000..0866b49f65e9f35c1f7fb259245fdeffef49e880 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode425.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle, shake it with the right arm.", + "Secure the red bottle with curved grooves and perform a shake.", + "Grip the handheld plastic bottle using the right arm and shake.", + "Grab the medium-size plastic bottle and move it to shake.", + "Use the right arm to pick and shake the bottle with red cap.", + "Shake the smooth red cylindrical bottle after holding it firmly.", + "Pick the bottle with red cap up using the right arm and shake it.", + "Grab the red bottle with screw cap with the right arm and shake.", + "Shake the yellow text bottle using the right arm after grabbing.", + "Grab the red bottle and give it a shake.", + "Catch the plastic bottle with bright red color and shake it instantly.", + "Shake the medium-size plastic bottle after lifting it.", + "Hold the plastic bottle with bright red color and shake it properly.", + "Lift the red bottle with white bottom text with the right arm and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Utilize the right arm to hold the medium-size plastic bottle and shake it.", + "Grab the red bottle carefully and shake.", + "Lift the medium-size plastic bottle with the right arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift the handheld plastic bottle and shake it gently.", + "Grab the red bottle with white bottom text using the right arm, then shake.", + "Pick up the yellow text bottle and shake it well.", + "Use the right arm to grab the red bottle and shake it.", + "Grab the medium-size plastic bottle firmly, shake it, and put it down.", + "Shake the handheld plastic bottle after grabbing it.", + "Grab and shake the red bottle with curved grooves using the right arm.", + "Use the right arm to grab the red bottle and shake properly.", + "Lift the red bottle with screw cap with the right arm and give it a shake.", + "Hold the red bottle, shake it briefly.", + "Shake the bottle with red cap firmly after grabbing.", + "Pick the medium-size plastic bottle up with the right arm and shake.", + "Shake the the red bottle with screw cap properly after lifting.", + "Hold and shake the the smooth red cylindrical bottle carefully.", + "Lift the bottle with red cap and shake it thoroughly.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the medium-size plastic bottle after grabbing it.", + "Take the red bottle with curved grooves using the right arm and give it a shake.", + "Pick the smooth red cylindrical bottle and perform shaking motion.", + "Hold the red bottle with white bottom text with the right arm and shake lightly.", + "Use the right arm to lift and shake the red bottle.", + "Lift up the smooth red cylindrical bottle using the right arm, then shake.", + "Use the right arm to hold the red bottle with screw cap and shake it.", + "Using the right arm, shake the yellow text bottle and then place it back.", + "Shake the red bottle with white bottom text after grabbing it.", + "Hold the red bottle with curved grooves steady, then shake it.", + "Secure the smooth red cylindrical bottle, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with red cap.", + "Shake the red bottle with screw cap thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth red cylindrical bottle.", + "Pick up the handheld plastic bottle and shake it.", + "Pick the red bottle with narrow neck, shake it with the right arm.", + "Secure the red bottle and perform a shake.", + "Grip the red bottle using the right arm and shake.", + "Grab the yellow text bottle and move it to shake.", + "Use the right arm to pick and shake the handheld plastic bottle.", + "Shake the red bottle with screw cap after holding it firmly.", + "Pick the red bottle with screw cap up using the right arm and shake it.", + "Grab the smooth red cylindrical bottle with the right arm and shake.", + "Shake the red bottle with screw cap using the right arm after grabbing.", + "Grab the red bottle and give it a shake.", + "Catch the handheld plastic bottle and shake it instantly.", + "Shake the red bottle with narrow neck after lifting it.", + "Hold the yellow text bottle and shake it properly.", + "Lift the red bottle with curved grooves with the right arm and shake it.", + "With the right arm, pick the medium-size plastic bottle and shake properly.", + "Utilize the right arm to hold the red bottle with screw cap and shake it.", + "Grab the red bottle carefully and shake.", + "Lift the red bottle with narrow neck with the right arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift the bottle with red cap and shake it gently.", + "Grab the red bottle with screw cap using the right arm, then shake.", + "Pick up the smooth red cylindrical bottle and shake it well.", + "Use the right arm to grab the red bottle and shake it.", + "Grab the bottle with red cap firmly, shake it, and put it down.", + "Shake the red bottle with curved grooves after grabbing it.", + "Grab and shake the yellow text bottle using the right arm.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Lift the red bottle with curved grooves with the right arm and give it a shake.", + "Hold the red bottle, shake it briefly.", + "Shake the handheld plastic bottle firmly after grabbing.", + "Pick the red bottle with narrow neck up with the right arm and shake.", + "Shake the the bottle with red cap properly after lifting.", + "Hold and shake the the red bottle carefully.", + "Lift the red bottle and shake it thoroughly.", + "Grasp the red bottle with the right arm and shake it.", + "Shake the yellow text bottle after grabbing it.", + "Take the smooth red cylindrical bottle using the right arm and give it a shake.", + "Pick the red bottle with curved grooves and perform shaking motion.", + "Hold the red bottle with screw cap with the right arm and shake lightly.", + "Use the right arm to lift and shake the red bottle with narrow neck.", + "Lift up the yellow text bottle using the right arm, then shake.", + "Use the right arm to hold the red bottle with white bottom text and shake it.", + "Using the right arm, shake the smooth red cylindrical bottle and then place it back.", + "Shake the yellow text bottle after grabbing it.", + "Hold the red bottle with screw cap steady, then shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to lift and shake the yellow text bottle.", + "Shake the red bottle with narrow neck thoroughly after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick up the smooth red cylindrical bottle and shake it." + ], + "unseen": [ + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the shiny red bottle and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the shiny red bottle with the right arm.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Pick up the shiny red bottle with the right arm and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Grab the shiny red bottle and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick and shake the the shiny red bottle with the right arm.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Grab the shiny red bottle and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Use the right arm to grab the shiny red bottle and shake.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode426.json b/shake_bottle/ur5_randomized_500/instructions/episode426.json new file mode 100644 index 0000000000000000000000000000000000000000..5a3b4dcfec2c0afcf64b55f3ef215017280ed70e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode426.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with orange screw cap after grabbing it.", + "Utilize the left arm to hold the bottle with tapering neck and shake it.", + "Shake the cylindrical bottle with red writing after holding it firmly.", + "Use the left arm to lift and shake the white bottle.", + "Grab the white cylindrical bottle with the left arm and shake.", + "Use the left arm to hold the handheld white bottle with cap and shake it.", + "Grab the bottle with tapering neck and shake it steadily.", + "Secure the smooth bottle and perform a shake.", + "Hold the bottle with tapering neck with the left arm and shake lightly.", + "Pick up the bottle with tapering neck and shake it well.", + "Lift the white cylindrical bottle and shake it thoroughly.", + "Pick the white bottle with orange lid up with the left arm and shake.", + "Lift the bottle with orange screw cap with the left arm and shake.", + "Pick up the white bottle for liquids and shake it.", + "Shake the white bottle with red text after grabbing it.", + "Shake the white bottle with orange lid after lifting it.", + "Hold and shake the the white cylindrical bottle carefully.", + "Secure the bottle with tapering neck, shake it, and place it down.", + "Using the left arm, shake the bottle with orange screw cap and then place it back.", + "Pick the smooth bottle up using the left arm and shake it.", + "Hold the smooth bottle and shake it properly.", + "Lift the medium-sized bottle and shake it gently.", + "Grab the cylindrical bottle with red writing firmly, shake it, and put it down.", + "Use the left arm to grab the bottle with orange screw cap and shake properly.", + "Use the left arm to grab the bottle with orange screw cap and shake it.", + "Shake the smooth bottle using the left arm after grabbing.", + "Grab and shake the handheld white bottle with cap using the left arm.", + "Lift the cylindrical bottle with red writing with the left arm and give it a shake.", + "Grab the white cylindrical bottle using the left arm, then shake.", + "Shake the white bottle with orange lid after grabbing it.", + "Take the bottle with tapering neck using the left arm and give it a shake.", + "Shake the white bottle for liquids thoroughly after grabbing it.", + "Pick the white bottle with red text and perform shaking motion.", + "Grab the bottle with tapering neck and move it to shake.", + "Use the left arm to lift and shake the bottle with tapering neck.", + "Shake the white bottle for liquids firmly after grabbing.", + "Grip the bottle with tapering neck using the left arm and shake.", + "Hold the cylindrical bottle with red writing steady, then shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift up the white bottle using the left arm, then shake.", + "Grab the smooth bottle carefully and shake.", + "Lift the bottle with orange screw cap with the left arm and shake it.", + "Hold the bottle with tapering neck, shake it briefly.", + "Shake the the cylindrical bottle with red writing properly after lifting.", + "Grasp the bottle with tapering neck with the left arm and shake it.", + "Catch the bottle with tapering neck and shake it instantly.", + "Pick the white bottle, shake it with the left arm.", + "With the left arm, pick the handheld white bottle with cap and shake properly.", + "Use the left arm to pick and shake the white bottle with orange lid.", + "Grab the medium-sized bottle and give it a shake.", + "Shake the medium-sized bottle after grabbing it.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "Shake the white cylindrical bottle after holding it firmly.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "Grab the medium-sized bottle with the left arm and shake.", + "Use the left arm to hold the white bottle and shake it.", + "Grab the smooth bottle and shake it steadily.", + "Secure the white bottle with red text and perform a shake.", + "Hold the white bottle with the left arm and shake lightly.", + "Pick up the white cylindrical bottle and shake it well.", + "Lift the white bottle with red text and shake it thoroughly.", + "Pick the white bottle up with the left arm and shake.", + "Lift the white bottle with the left arm and shake.", + "Pick up the white cylindrical bottle and shake it.", + "Shake the white cylindrical bottle after grabbing it.", + "Shake the smooth bottle after lifting it.", + "Hold and shake the the bottle with tapering neck carefully.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Using the left arm, shake the smooth bottle and then place it back.", + "Pick the white bottle up using the left arm and shake it.", + "Hold the handheld white bottle with cap and shake it properly.", + "Lift the white bottle with orange lid and shake it gently.", + "Grab the smooth bottle firmly, shake it, and put it down.", + "Use the left arm to grab the bottle with tapering neck and shake properly.", + "Use the left arm to grab the white bottle for liquids and shake it.", + "Shake the cylindrical bottle with red writing using the left arm after grabbing.", + "Grab and shake the bottle with tapering neck using the left arm.", + "Lift the white bottle with orange lid with the left arm and give it a shake.", + "Grab the handheld white bottle with cap using the left arm, then shake.", + "Shake the white bottle after grabbing it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the white bottle with orange lid thoroughly after grabbing it.", + "Pick the plastic bottle and perform shaking motion.", + "Grab the medium-sized bottle and move it to shake.", + "Use the left arm to lift and shake the white bottle with orange lid.", + "Shake the smooth bottle firmly after grabbing.", + "Grip the cylindrical bottle with red writing using the left arm and shake.", + "Hold the white bottle with orange lid steady, then shake it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Grab the white cylindrical bottle carefully and shake.", + "Lift the bottle with tapering neck with the left arm and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Shake the the white bottle with red text properly after lifting.", + "Grasp the cylindrical bottle with red writing with the left arm and shake it.", + "Catch the bottle with orange screw cap and shake it instantly.", + "Pick the cylindrical bottle with red writing, shake it with the left arm.", + "With the left arm, pick the plastic bottle and shake properly.", + "Use the left arm to pick and shake the white cylindrical bottle.", + "Grab the smooth bottle and give it a shake." + ], + "unseen": [ + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode427.json b/shake_bottle/ur5_randomized_500/instructions/episode427.json new file mode 100644 index 0000000000000000000000000000000000000000..38fd374ff63cd384bb1a7a0659464bfa36624c99 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode427.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the yellow body bottle and perform shaking motion.", + "Shake the bottle for liquids after grabbing it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the rectangular bottle carefully and shake.", + "Shake the rectangular bottle after holding it firmly.", + "Pick up the yellow bottle and shake it.", + "Shake the yellow bottle with green label using the right arm after grabbing.", + "Hold the yellow body bottle, shake it briefly.", + "Secure the yellow bottle, shake it, and place it down.", + "Use the right arm to lift and shake the smooth yellow plastic bottle.", + "Use the right arm to hold the yellow bottle and shake it.", + "Shake the yellow bottle with flower design after grabbing it.", + "Take the yellow bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth yellow plastic bottle.", + "Grab the bottle with white cap and move it to shake.", + "Using the right arm, shake the bottle with green and white label and then place it back.", + "Use the right arm to grab the yellow bottle and shake properly.", + "Grasp the yellow bottle with the right arm and shake it.", + "Grab the yellow bottle with cylindrical cap and shake it steadily.", + "Pick the bottle for liquids up with the right arm and shake.", + "Use the right arm to lift and shake the yellow bottle.", + "Pick the bottle for liquids, shake it with the right arm.", + "Shake the yellow bottle with green label after lifting it.", + "Grab the handheld bottle using the right arm, then shake.", + "Secure the bottle for liquids and perform a shake.", + "Grab the rectangular bottle and give it a shake.", + "Catch the plastic bottle and shake it instantly.", + "Utilize the right arm to hold the yellow bottle with cylindrical cap and shake it.", + "Pick the bottle with green and white label up using the right arm and shake it.", + "Grab the smooth yellow plastic bottle with the right arm and shake.", + "Grab the smooth yellow plastic bottle firmly, shake it, and put it down.", + "Lift the yellow bottle with flower design with the right arm and shake.", + "With the right arm, pick the plastic bottle and shake properly.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Hold the bottle with white cap and shake it properly.", + "Pick up the bottle with green and white label and shake it well.", + "Grip the handheld bottle using the right arm and shake.", + "Use the right arm to pick and shake the yellow bottle with green label.", + "Hold the yellow bottle with cylindrical cap steady, then shake it.", + "Use the right arm to grab the yellow bottle with cylindrical cap and shake it.", + "Shake the handheld bottle after grabbing it.", + "Grab and shake the yellow bottle using the right arm.", + "Lift the yellow body bottle with the right arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Shake the yellow bottle with cylindrical cap firmly after grabbing.", + "Lift the bottle for liquids and shake it thoroughly.", + "Hold and shake the the yellow bottle with cylindrical cap carefully.", + "Hold the yellow bottle with the right arm and shake lightly.", + "Shake the the rectangular bottle properly after lifting.", + "Lift up the yellow body bottle using the right arm, then shake.", + "Pick the rectangular bottle and perform shaking motion.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Shake the yellow body bottle thoroughly after grabbing it.", + "Grab the yellow bottle with cylindrical cap carefully and shake.", + "Shake the rectangular bottle after holding it firmly.", + "Pick up the yellow bottle with green label and shake it.", + "Shake the yellow bottle with green label using the right arm after grabbing.", + "Hold the bottle with green and white label, shake it briefly.", + "Secure the yellow bottle with green label, shake it, and place it down.", + "Use the right arm to lift and shake the yellow bottle with flower design.", + "Use the right arm to hold the yellow bottle with flower design and shake it.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Take the yellow bottle with green label using the right arm and give it a shake.", + "Use the right arm to lift and shake the yellow bottle with flower design.", + "Grab the bottle with green and white label and move it to shake.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to grab the yellow bottle and shake properly.", + "Grasp the rectangular bottle with the right arm and shake it.", + "Grab the bottle with white cap and shake it steadily.", + "Pick the yellow bottle with green label up with the right arm and shake.", + "Use the right arm to lift and shake the yellow bottle with green label.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the handheld bottle after lifting it.", + "Grab the yellow bottle with flower design using the right arm, then shake.", + "Secure the yellow bottle with cylindrical cap and perform a shake.", + "Grab the yellow body bottle and give it a shake.", + "Catch the bottle with white cap and shake it instantly.", + "Utilize the right arm to hold the bottle with green and white label and shake it.", + "Pick the yellow body bottle up using the right arm and shake it.", + "Grab the yellow bottle with the right arm and shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Lift the rectangular bottle with the right arm and shake.", + "With the right arm, pick the yellow bottle with cylindrical cap and shake properly.", + "Lift the bottle for liquids with the right arm and give it a shake.", + "Hold the yellow bottle with cylindrical cap and shake it properly.", + "Pick up the yellow bottle with green label and shake it well.", + "Grip the bottle with green and white label using the right arm and shake.", + "Use the right arm to pick and shake the bottle for liquids.", + "Hold the yellow bottle with green label steady, then shake it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Shake the bottle for liquids after grabbing it.", + "Grab and shake the yellow bottle with cylindrical cap using the right arm.", + "Lift the yellow bottle with green label with the right arm and shake it.", + "Lift the yellow bottle with cylindrical cap and shake it gently.", + "Shake the smooth yellow plastic bottle firmly after grabbing.", + "Lift the yellow body bottle and shake it thoroughly.", + "Hold and shake the the rectangular bottle carefully.", + "Hold the yellow bottle with flower design with the right arm and shake lightly.", + "Shake the the rectangular bottle properly after lifting.", + "Lift up the handheld bottle using the right arm, then shake." + ], + "unseen": [ + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Pick up the bottle with printed label with the right arm and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the bottle with printed label and give it a shake.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick up the bottle with printed label with the right arm and shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Grab the medium bottle and give it a shake.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the medium bottle and give it a shake.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges.", + "Pick up the bottle with printed label with the right arm and shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Pick up the medium bottle with the right arm and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the bottle with printed label and give it a shake.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode428.json b/shake_bottle/ur5_randomized_500/instructions/episode428.json new file mode 100644 index 0000000000000000000000000000000000000000..c189c9b742708660ae214da108100bf43eaf82c8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode428.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with cute ghost drawing, shake it with the left arm.", + "Lift up the medium cylinder-shaped bottle using the left arm, then shake.", + "Use the left arm to lift and shake the hand-sized bottle with screw cap.", + "Lift the light gray colored container bottle and shake it gently.", + "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.", + "Pick the smooth surface bottle with gray shade up with the left arm and shake.", + "Shake the the smooth surface bottle with gray shade properly after lifting.", + "Utilize the left arm to hold the rounded body bottle made of plastic and shake it.", + "Grab the medium-sized plastic bottle with the left arm and shake.", + "Grab the bottle with cute ghost drawing and move it to shake.", + "Grab and shake the medium-sized plastic bottle using the left arm.", + "Use the left arm to pick and shake the rounded body bottle made of plastic.", + "Secure the gray bottle with slight shine, shake it, and place it down.", + "Lift the smooth cylindrical bottle and shake it thoroughly.", + "Grab the medium cylinder-shaped bottle and shake it steadily.", + "Hold the light gray colored container bottle steady, then shake it.", + "Grip the milk-bottle shape design using the left arm and shake.", + "Pick the smooth cylindrical bottle and perform shaking motion.", + "Hold the bottle with cute ghost drawing, shake it briefly.", + "Pick the hand-sized bottle with screw cap up using the left arm and shake it.", + "Pick up the plastic bottle with ghost print and shake it well.", + "Using the left arm, shake the rounded body bottle made of plastic and then place it back.", + "Hold and shake the the bottle shaped like small cylinder carefully.", + "Shake the plastic bottle with ghost print after lifting it.", + "Shake the hand-sized bottle with screw cap using the left arm after grabbing.", + "Lift the milk-bottle shape design with the left arm and shake it.", + "Lift the bottle with cute ghost drawing with the left arm and give it a shake.", + "Use the left arm to grab the rounded body bottle made of plastic and shake it.", + "Lift the milk-bottle shape design with the left arm and shake.", + "Shake the bottle shaped like small cylinder after grabbing it.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Catch the medium-sized plastic bottle and shake it instantly.", + "Grab the bottle with cute ghost drawing and give it a shake.", + "Shake the medium-sized plastic bottle thoroughly after grabbing it.", + "Pick up the smooth cylindrical bottle and shake it.", + "Hold the hand-sized bottle with screw cap and shake it properly.", + "Grab the smooth cylindrical bottle using the left arm, then shake.", + "Secure the bottle shaped like small cylinder and perform a shake.", + "With the left arm, pick the plastic bottle with ghost print and shake properly.", + "Use the left arm to hold the medium-sized plastic bottle and shake it.", + "Grasp the milk-bottle shape design with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Shake the bottle with cute ghost drawing after holding it firmly.", + "Shake the light gray colored container bottle after grabbing it.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Shake the milk-bottle shape design firmly after grabbing.", + "Use the left arm to grab the medium-sized plastic bottle and shake properly.", + "Take the hand-sized bottle with screw cap using the left arm and give it a shake.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Hold the gray bottle with slight shine with the left arm and shake lightly.", + "Pick the smooth surface bottle with gray shade, shake it with the left arm.", + "Lift up the bottle shaped like small cylinder using the left arm, then shake.", + "Use the left arm to lift and shake the medium-sized plastic bottle.", + "Lift the bottle with cute ghost drawing and shake it gently.", + "Grab the gray bottle with slight shine firmly, shake it, and put it down.", + "Pick the rounded body bottle made of plastic up with the left arm and shake.", + "Shake the the bottle with cute ghost drawing properly after lifting.", + "Utilize the left arm to hold the bottle with cute ghost drawing and shake it.", + "Grab the medium cylinder-shaped bottle with the left arm and shake.", + "Grab the plastic bottle with ghost print and move it to shake.", + "Grab and shake the smooth cylindrical bottle using the left arm.", + "Use the left arm to pick and shake the smooth surface bottle with gray shade.", + "Secure the milk-bottle shape design, shake it, and place it down.", + "Lift the smooth surface bottle with gray shade and shake it thoroughly.", + "Grab the medium cylinder-shaped bottle and shake it steadily.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Grip the plastic bottle with ghost print using the left arm and shake.", + "Pick the bottle with cute ghost drawing and perform shaking motion.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Pick the gray bottle with slight shine up using the left arm and shake it.", + "Pick up the plastic bottle with ghost print and shake it well.", + "Using the left arm, shake the smooth cylindrical bottle and then place it back.", + "Hold and shake the the bottle with cute ghost drawing carefully.", + "Shake the rounded body bottle made of plastic after lifting it.", + "Shake the hand-sized bottle with screw cap using the left arm after grabbing.", + "Lift the medium-sized plastic bottle with the left arm and shake it.", + "Lift the light gray colored container bottle with the left arm and give it a shake.", + "Use the left arm to grab the light gray colored container bottle and shake it.", + "Lift the smooth cylindrical bottle with the left arm and shake.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Catch the bottle shaped like small cylinder and shake it instantly.", + "Grab the plastic bottle with ghost print and give it a shake.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Pick up the milk-bottle shape design and shake it.", + "Hold the bottle with cute ghost drawing and shake it properly.", + "Grab the smooth surface bottle with gray shade using the left arm, then shake.", + "Secure the gray bottle with slight shine and perform a shake.", + "With the left arm, pick the gray bottle with slight shine and shake properly.", + "Use the left arm to hold the plastic bottle with ghost print and shake it.", + "Grasp the milk-bottle shape design with the left arm and shake it.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "Shake the smooth surface bottle with gray shade after holding it firmly.", + "Shake the gray bottle with slight shine after grabbing it.", + "Grab the smooth cylindrical bottle carefully and shake.", + "Shake the light gray colored container bottle firmly after grabbing.", + "Use the left arm to grab the smooth surface bottle with gray shade and shake properly.", + "Take the plastic bottle with ghost print using the left arm and give it a shake.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Hold the hand-sized bottle with screw cap with the left arm and shake lightly." + ], + "unseen": [ + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the light gray bottle.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the light gray bottle.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to pick the light gray bottle.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the light gray bottle and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to pick the light gray bottle.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the light gray bottle.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the light gray bottle.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Shake the light gray bottle after picking it with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode429.json b/shake_bottle/ur5_randomized_500/instructions/episode429.json new file mode 100644 index 0000000000000000000000000000000000000000..f018d538af640e36de6c3a277792fc5d8f7cf079 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode429.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium green bottle after holding it firmly.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Lift the medium-sized green bottle and shake it gently.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Lift up the plastic bottle using the left arm, then shake.", + "Hold the handheld green bottle, shake it briefly.", + "Secure the handheld green bottle and perform a shake.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Shake the green bottle with indented base after lifting it.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the bottle with white printed label and give it a shake.", + "Hold and shake the the handheld green bottle carefully.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Hold the bottle with narrow top and shake it properly.", + "Grab the handheld green bottle and move it to shake.", + "Pick up the smooth green bottle and shake it well.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Grab the bottle with white printed label carefully and shake.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Shake the smooth green bottle firmly after grabbing.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Use the left arm to pick and shake the smooth green bottle.", + "Shake the medium green bottle after grabbing it.", + "Grab the handheld green bottle and shake it steadily.", + "Catch the smooth green bottle and shake it instantly.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Grab the medium green bottle using the left arm, then shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Take the medium green bottle using the left arm and give it a shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Grab the smooth green bottle with the left arm and shake.", + "Shake the the bottle with narrow top properly after lifting.", + "Shake the green bottle with indented base after holding it firmly.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Grip the handheld green bottle using the left arm and shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Lift the bottle with ridges near base and shake it gently.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Hold the bottle with narrow top, shake it briefly.", + "Secure the bottle with white printed label and perform a shake.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Lift the bottle with white printed label with the left arm and shake.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Shake the bottle with rounded neck after lifting it.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the plastic bottle and give it a shake.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Hold the medium-sized green bottle and shake it properly.", + "Grab the handheld green bottle and move it to shake.", + "Pick up the smooth green plastic bottle and shake it well.", + "Pick the medium green bottle up using the left arm and shake it.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Grab the bottle with white printed label carefully and shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Shake the bottle with narrow top firmly after grabbing.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Catch the medium-sized green bottle and shake it instantly.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Hold the bottle with white printed label steady, then shake it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Shake the the handheld green bottle properly after lifting." + ], + "unseen": [ + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode43.json b/shake_bottle/ur5_randomized_500/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..15dae99cca57ac0308ff61ad41660ca32c21b216 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth orange bottle and perform shaking motion.", + "Pick the bottle for holding drinks up using the left arm and shake it.", + "Grab the medium bottle with colorful label with the left arm and shake.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Grab the medium bottle with colorful label and give it a shake.", + "Shake the curved orange soda bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "With the left arm, pick the grooved orange drink bottle and shake properly.", + "Using the left arm, shake the grooved orange drink bottle and then place it back.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Take the grooved orange drink bottle using the left arm and give it a shake.", + "Utilize the left arm to hold the round-bottom bottle with white cap and shake it.", + "Lift the medium bottle with colorful label with the left arm and shake it.", + "Lift the orange bottle and shake it thoroughly.", + "Grab the bottle for holding drinks using the left arm, then shake.", + "Secure the ridged orange bottle with grooves, shake it, and place it down.", + "Lift the orange drink bottle with label and shake it gently.", + "Use the left arm to grab the bottle for holding drinks and shake it.", + "Shake the cylindrical orange plastic bottle after holding it firmly.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Lift the cylindrical orange plastic bottle with the left arm and shake.", + "Hold the bottle for holding drinks with the left arm and shake lightly.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Hold the curved orange soda bottle and shake it properly.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the bottle for holding drinks after lifting it.", + "Shake the smooth orange bottle after grabbing it.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Grasp the orange drink bottle with label with the left arm and shake it.", + "Hold the ridged orange bottle with grooves steady, then shake it.", + "Grab the light and medium-sized bottle and shake it steadily.", + "Grip the orange drink bottle with label using the left arm and shake.", + "Pick the orange bottle up with the left arm and shake.", + "Shake the ridged orange bottle with grooves firmly after grabbing.", + "Lift up the smooth orange bottle using the left arm, then shake.", + "Shake the smooth orange bottle thoroughly after grabbing it.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Grab the light and medium-sized bottle and move it to shake.", + "Shake the curved orange soda bottle after grabbing it.", + "Lift the orange bottle with the left arm and give it a shake.", + "Pick the plastic bottle, shake it with the left arm.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Grab the smooth orange bottle carefully and shake.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Pick up the orange bottle and shake it.", + "Use the left arm to hold the round-bottom bottle with white cap and shake it.", + "Pick up the orange drink bottle with label and shake it well.", + "Secure the smooth orange bottle and perform a shake.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Pick the light and medium-sized bottle up using the left arm and shake it.", + "Grab the cylindrical orange plastic bottle with the left arm and shake.", + "Use the left arm to grab the round-bottom bottle with white cap and shake properly.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Shake the curved orange soda bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Catch the cylindrical orange plastic bottle and shake it instantly.", + "With the left arm, pick the grooved orange drink bottle and shake properly.", + "Using the left arm, shake the orange drink bottle with label and then place it back.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Take the ridged orange bottle with grooves using the left arm and give it a shake.", + "Utilize the left arm to hold the ridged orange bottle with grooves and shake it.", + "Lift the light and medium-sized bottle with the left arm and shake it.", + "Lift the orange drink bottle with label and shake it thoroughly.", + "Grab the curved orange soda bottle using the left arm, then shake.", + "Secure the bottle for holding drinks, shake it, and place it down.", + "Lift the curved orange soda bottle and shake it gently.", + "Use the left arm to grab the grooved orange drink bottle and shake it.", + "Shake the bottle for holding drinks after holding it firmly.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Lift the curved orange soda bottle with the left arm and shake.", + "Hold the bottle for holding drinks with the left arm and shake lightly.", + "Shake the the cylindrical orange plastic bottle properly after lifting.", + "Hold the curved orange soda bottle and shake it properly.", + "Grab and shake the light and medium-sized bottle using the left arm.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the bottle for holding drinks after lifting it.", + "Shake the orange drink bottle with label after grabbing it.", + "Hold and shake the the plastic bottle carefully.", + "Grasp the round-bottom bottle with white cap with the left arm and shake it.", + "Hold the round-bottom bottle with white cap steady, then shake it.", + "Grab the cylindrical orange plastic bottle and shake it steadily.", + "Grip the ridged orange bottle with grooves using the left arm and shake.", + "Pick the medium bottle with colorful label up with the left arm and shake.", + "Shake the light and medium-sized bottle firmly after grabbing.", + "Lift up the grooved orange drink bottle using the left arm, then shake.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Grab the round-bottom bottle with white cap and move it to shake.", + "Shake the curved orange soda bottle after grabbing it.", + "Lift the cylindrical orange plastic bottle with the left arm and give it a shake.", + "Pick the smooth orange bottle, shake it with the left arm.", + "Shake the orange drink bottle with label after grabbing it.", + "Grab the curved orange soda bottle carefully and shake.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Pick up the bottle for holding drinks and shake it.", + "Use the left arm to hold the orange bottle and shake it.", + "Pick up the smooth orange bottle and shake it well.", + "Secure the orange drink bottle with label and perform a shake." + ], + "unseen": [ + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode430.json b/shake_bottle/ur5_randomized_500/instructions/episode430.json new file mode 100644 index 0000000000000000000000000000000000000000..9e0d47e1054714e58b534261e03653e0c7b980c4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode430.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the white and blue bottle with the left arm and shake it.", + "Lift the blue bottle and shake it gently.", + "Grab the bottle with blue cap and move it to shake.", + "Lift up the bottle for liquids using the left arm, then shake.", + "Grab and shake the blue bottle using the left arm.", + "Secure the blue bottle with label, shake it, and place it down.", + "Pick the white and blue bottle, shake it with the left arm.", + "Hold the bottle with blue cap, shake it briefly.", + "Lift the white and blue bottle with the left arm and give it a shake.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Shake the bottle with blue cap after grabbing it.", + "Shake the blue bottle with label after grabbing it.", + "Use the left arm to pick and shake the white bottle with blue accents.", + "Grab the white and blue bottle with the left arm and shake.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Shake the the bottle for liquids properly after lifting.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Grab the handheld bottle using the left arm, then shake.", + "Hold and shake the the cylindrical bottle carefully.", + "Pick the cylindrical bottle and perform shaking motion.", + "Using the left arm, shake the cylindrical bottle and then place it back.", + "Take the blue bottle using the left arm and give it a shake.", + "Shake the plastic bottle after holding it firmly.", + "Pick the blue bottle up with the left arm and shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to lift and shake the white and blue bottle.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Pick up the blue bottle with label and shake it well.", + "Catch the white bottle with blue accents and shake it instantly.", + "Pick up the plastic bottle and shake it.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Lift the medium bottle for beverages with the left arm and shake.", + "Grip the blue bottle using the left arm and shake.", + "Shake the bottle for liquids after lifting it.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the white and blue bottle and shake it properly.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Shake the white and blue bottle thoroughly after grabbing it.", + "Grab the bottle for liquids carefully and shake.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Hold the blue bottle steady, then shake it.", + "Shake the blue bottle firmly after grabbing.", + "Secure the bottle for liquids and perform a shake.", + "Grab the medium bottle for beverages and give it a shake.", + "Grab the bottle with blue cap and shake it steadily.", + "Use the left arm to hold the medium bottle for beverages and shake it.", + "Lift the plastic bottle with the left arm and shake it.", + "Lift the bottle with blue cap and shake it gently.", + "Grab the medium-sized bottle and move it to shake.", + "Lift up the bottle for liquids using the left arm, then shake.", + "Grab and shake the blue bottle with label using the left arm.", + "Secure the white and blue bottle, shake it, and place it down.", + "Pick the blue bottle with label, shake it with the left arm.", + "Hold the blue bottle with label, shake it briefly.", + "Lift the bottle with blue cap with the left arm and give it a shake.", + "With the left arm, pick the bottle with blue cap and shake properly.", + "Shake the blue bottle after grabbing it.", + "Shake the handheld bottle after grabbing it.", + "Use the left arm to pick and shake the bottle for liquids.", + "Grab the white bottle with blue accents with the left arm and shake.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Shake the bottle for liquids using the left arm after grabbing.", + "Shake the the blue bottle properly after lifting.", + "Utilize the left arm to hold the bottle for liquids and shake it.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Hold and shake the the blue bottle with label carefully.", + "Pick the handheld bottle and perform shaking motion.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Take the white bottle with blue accents using the left arm and give it a shake.", + "Shake the white bottle with blue accents after holding it firmly.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Use the left arm to grab the blue bottle with label and shake it.", + "Shake the white bottle with blue accents after grabbing it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Hold the bottle with blue cap with the left arm and shake lightly.", + "Use the left arm to lift and shake the handheld bottle.", + "Pick up the plastic bottle and shake it well.", + "Catch the smooth plastic bottle and shake it instantly.", + "Pick up the cylindrical bottle and shake it.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Lift the medium-sized bottle with the left arm and shake.", + "Grip the white and blue bottle using the left arm and shake.", + "Shake the white bottle with blue accents after lifting it.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the bottle with blue cap and shake it properly.", + "Use the left arm to lift and shake the handheld bottle.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Grab the bottle with blue cap carefully and shake.", + "Use the left arm to grab the blue bottle and shake properly.", + "Hold the medium bottle for beverages steady, then shake it.", + "Shake the white and blue bottle firmly after grabbing.", + "Secure the white and blue bottle and perform a shake.", + "Grab the plastic bottle and give it a shake.", + "Grab the handheld bottle and shake it steadily.", + "Use the left arm to hold the handheld bottle and shake it." + ], + "unseen": [ + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode431.json b/shake_bottle/ur5_randomized_500/instructions/episode431.json new file mode 100644 index 0000000000000000000000000000000000000000..8d3bee4f197ed8fcad2b3ce376640e21248673ac --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode431.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with brown body and white top with the left arm and shake.", + "Pick up the smooth brown bottle and shake it well.", + "Pick the bottle with white cap and perform shaking motion.", + "Grab the plastic bottle for liquids and move it to shake.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Hold and shake the the medium bottle with smooth texture carefully.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Lift up the plastic bottle with printed label using the left arm, then shake.", + "Lift the plastic bottle with printed label with the left arm and shake it.", + "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the medium bottle with smooth texture and shake it.", + "Grab and shake the white-capped brown cylindrical bottle using the left arm.", + "Using the left arm, shake the rounded bottle with printed details and then place it back.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Grab the handheld brown bottle with white lid using the left arm, then shake.", + "Use the left arm to pick and shake the white-capped brown cylindrical bottle.", + "Grab the medium plastic bottle with the left arm and shake.", + "Shake the smooth brown bottle after grabbing it.", + "Lift the rounded bottle with printed details with the left arm and give it a shake.", + "Grab the rounded bottle with printed details and give it a shake.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Secure the plastic bottle with printed label and perform a shake.", + "Use the left arm to grab the plastic bottle with printed label and shake it.", + "Pick the bottle with white cap up with the left arm and shake.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Hold the smooth brown bottle steady, then shake it.", + "Hold the smooth brown bottle and shake it properly.", + "Lift the plastic bottle for liquids and shake it gently.", + "Shake the bottle with brown body and white top after grabbing it.", + "Shake the smooth brown bottle firmly after grabbing.", + "Grab the bottle with dark brown color carefully and shake.", + "Use the left arm to lift and shake the smooth brown bottle.", + "Hold the bottle with brown body and white top with the left arm and shake lightly.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Shake the plastic bottle for liquids after lifting it.", + "Catch the plastic bottle with printed label and shake it instantly.", + "Pick the plastic bottle with printed label up using the left arm and shake it.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Use the left arm to grab the bottle with brown body and white top and shake properly.", + "Shake the rounded bottle with printed details using the left arm after grabbing.", + "Pick the medium bottle with smooth texture, shake it with the left arm.", + "Take the bottle with brown body and white top using the left arm and give it a shake.", + "Lift the smooth brown bottle and shake it thoroughly.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Pick up the medium plastic bottle and shake it.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Grip the medium bottle with smooth texture using the left arm and shake.", + "Grasp the white-capped brown cylindrical bottle with the left arm and shake it.", + "Shake the white-capped brown cylindrical bottle after holding it firmly.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake.", + "Pick up the bottle with dark brown color and shake it well.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Grab the bottle with brown body and white top and move it to shake.", + "Grab the medium plastic bottle and shake it steadily.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Lift up the bottle with dark brown color using the left arm, then shake.", + "Lift the rounded bottle with printed details with the left arm and shake it.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Utilize the left arm to hold the rounded bottle with printed details and shake it.", + "Grab and shake the plastic bottle with printed label using the left arm.", + "Using the left arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Grab the medium bottle with smooth texture using the left arm, then shake.", + "Use the left arm to pick and shake the medium plastic bottle.", + "Grab the handheld brown bottle with white lid with the left arm and shake.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Lift the medium plastic bottle with the left arm and give it a shake.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Shake the the handheld brown bottle with white lid properly after lifting.", + "Secure the plastic bottle with printed label and perform a shake.", + "Use the left arm to grab the handheld brown bottle with white lid and shake it.", + "Pick the cylindrical bottle with narrow neck up with the left arm and shake.", + "Hold the cylindrical bottle with narrow neck, shake it briefly.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Hold the smooth brown bottle and shake it properly.", + "Lift the medium plastic bottle and shake it gently.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Grab the medium plastic bottle carefully and shake.", + "Use the left arm to lift and shake the cylindrical bottle with narrow neck.", + "Hold the plastic bottle for liquids with the left arm and shake lightly.", + "Use the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Shake the bottle with dark brown color after lifting it.", + "Catch the medium bottle with smooth texture and shake it instantly.", + "Pick the bottle with dark brown color up using the left arm and shake it.", + "With the left arm, pick the medium bottle with smooth texture and shake properly.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Use the left arm to grab the plastic bottle with printed label and shake properly.", + "Shake the plastic bottle with printed label using the left arm after grabbing.", + "Pick the handheld brown bottle with white lid, shake it with the left arm.", + "Take the plastic bottle with printed label using the left arm and give it a shake.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Pick up the medium plastic bottle and shake it.", + "Shake the plastic bottle with printed label after grabbing it.", + "Grip the bottle with brown body and white top using the left arm and shake.", + "Grasp the medium bottle with smooth texture with the left arm and shake it.", + "Shake the cylindrical bottle with narrow neck after holding it firmly." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode432.json b/shake_bottle/ur5_randomized_500/instructions/episode432.json new file mode 100644 index 0000000000000000000000000000000000000000..1f94d52630be9ae54c31932b8dfaa1cc616ddb64 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode432.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the bottle with tapering neck and shake it.", + "Use the left arm to grab the handheld white bottle with cap and shake it.", + "Lift up the cylindrical bottle with red writing using the left arm, then shake.", + "Use the left arm to grab the bottle with orange screw cap and shake properly.", + "Lift the smooth bottle and shake it thoroughly.", + "Grip the bottle with orange screw cap using the left arm and shake.", + "Grab the medium-sized bottle using the left arm, then shake.", + "Pick the white bottle, shake it with the left arm.", + "Lift the bottle with orange screw cap with the left arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grab and shake the white bottle using the left arm.", + "Shake the white cylindrical bottle thoroughly after grabbing it.", + "Lift the smooth bottle with the left arm and give it a shake.", + "Hold the bottle with orange screw cap and shake it properly.", + "Hold the white bottle, shake it briefly.", + "Grab the bottle with orange screw cap carefully and shake.", + "Pick up the white bottle and shake it well.", + "Pick the white bottle with orange lid and perform shaking motion.", + "Use the left arm to pick and shake the bottle with tapering neck.", + "Shake the bottle with orange screw cap after lifting it.", + "Pick the medium-sized bottle up using the left arm and shake it.", + "Shake the smooth bottle after grabbing it.", + "Shake the the white bottle properly after lifting.", + "With the left arm, pick the white cylindrical bottle and shake properly.", + "Grab the cylindrical bottle with red writing and move it to shake.", + "Secure the bottle with orange screw cap and perform a shake.", + "Grab the handheld white bottle with cap and shake it steadily.", + "Using the left arm, shake the white bottle with red text and then place it back.", + "Pick up the smooth bottle and shake it.", + "Grab the white cylindrical bottle firmly, shake it, and put it down.", + "Grab the white cylindrical bottle and give it a shake.", + "Shake the bottle with orange screw cap after grabbing it.", + "Shake the white bottle after holding it firmly.", + "Catch the handheld white bottle with cap and shake it instantly.", + "Hold the white bottle with orange lid with the left arm and shake lightly.", + "Grasp the white cylindrical bottle with the left arm and shake it.", + "Lift the smooth bottle with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the smooth bottle using the left arm after grabbing.", + "Pick the white bottle with red text up with the left arm and shake.", + "Hold the white bottle steady, then shake it.", + "Use the left arm to lift and shake the white bottle with orange lid.", + "Shake the white cylindrical bottle firmly after grabbing.", + "Grab the white bottle for liquids with the left arm and shake.", + "Lift the white bottle and shake it gently.", + "Secure the white cylindrical bottle, shake it, and place it down.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with tapering neck.", + "Take the cylindrical bottle with red writing using the left arm and give it a shake.", + "Utilize the left arm to hold the white bottle for liquids and shake it.", + "Use the left arm to grab the white cylindrical bottle and shake it.", + "Lift up the white bottle using the left arm, then shake.", + "Use the left arm to grab the bottle with orange screw cap and shake properly.", + "Lift the white bottle for liquids and shake it thoroughly.", + "Grip the handheld white bottle with cap using the left arm and shake.", + "Grab the cylindrical bottle with red writing using the left arm, then shake.", + "Pick the white bottle for liquids, shake it with the left arm.", + "Lift the handheld white bottle with cap with the left arm and shake it.", + "Hold and shake the the white bottle carefully.", + "Use the left arm to hold the white bottle with red text and shake it.", + "Grab and shake the cylindrical bottle with red writing using the left arm.", + "Shake the bottle with tapering neck thoroughly after grabbing it.", + "Lift the white cylindrical bottle with the left arm and give it a shake.", + "Hold the white bottle with orange lid and shake it properly.", + "Hold the white bottle, shake it briefly.", + "Grab the cylindrical bottle with red writing carefully and shake.", + "Pick up the handheld white bottle with cap and shake it well.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to pick and shake the white cylindrical bottle.", + "Shake the plastic bottle after lifting it.", + "Pick the cylindrical bottle with red writing up using the left arm and shake it.", + "Shake the white bottle for liquids after grabbing it.", + "Shake the the white bottle for liquids properly after lifting.", + "With the left arm, pick the smooth bottle and shake properly.", + "Grab the cylindrical bottle with red writing and move it to shake.", + "Secure the white bottle with orange lid and perform a shake.", + "Grab the bottle with orange screw cap and shake it steadily.", + "Using the left arm, shake the smooth bottle and then place it back.", + "Pick up the white bottle with red text and shake it.", + "Grab the white bottle for liquids firmly, shake it, and put it down.", + "Grab the medium-sized bottle and give it a shake.", + "Shake the handheld white bottle with cap after grabbing it.", + "Shake the plastic bottle after holding it firmly.", + "Catch the handheld white bottle with cap and shake it instantly.", + "Hold the smooth bottle with the left arm and shake lightly.", + "Grasp the bottle with tapering neck with the left arm and shake it.", + "Lift the smooth bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle.", + "Shake the white cylindrical bottle using the left arm after grabbing.", + "Pick the handheld white bottle with cap up with the left arm and shake.", + "Hold the white bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "Shake the white cylindrical bottle firmly after grabbing.", + "Grab the handheld white bottle with cap with the left arm and shake.", + "Lift the white bottle and shake it gently.", + "Secure the bottle with tapering neck, shake it, and place it down.", + "Shake the smooth bottle after grabbing it.", + "Use the left arm to lift and shake the white cylindrical bottle.", + "Take the cylindrical bottle with red writing using the left arm and give it a shake." + ], + "unseen": [ + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the bottle with orange cap with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode433.json b/shake_bottle/ur5_randomized_500/instructions/episode433.json new file mode 100644 index 0000000000000000000000000000000000000000..df61c54bfd735aefb1e5e9096cc610967ab4ccf8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode433.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cylindrical bottle with rounded cap firmly, shake it, and put it down.", + "Grab the cylindrical liquid bottle with yellow top and give it a shake.", + "Lift the medium bottle with green body and shake it gently.", + "Pick the handheld plastic bottle up with the right arm and shake.", + "Shake the the green bottle with white label properly after lifting.", + "Shake the bottle with glossy plastic finish using the right arm after grabbing.", + "Use the right arm to pick and shake the green bottle with black text label.", + "Grab the green bottle carefully and shake.", + "Use the right arm to grab the bottle with yellow cap and shake it.", + "Grab the green bottle with white label using the right arm, then shake.", + "Pick up the plastic bottle with colored label and shake it.", + "With the right arm, pick the bottle with glossy plastic finish and shake properly.", + "Lift the medium bottle with green body with the right arm and give it a shake.", + "Pick up the cylindrical bottle with rounded cap and shake it well.", + "Use the right arm to grab the plastic bottle with colored label and shake properly.", + "Use the right arm to lift and shake the cylindrical bottle with rounded cap.", + "Hold the green bottle with white label, shake it briefly.", + "Grab the smooth green and yellow bottle and shake it steadily.", + "Shake the plastic bottle with colored label after holding it firmly.", + "Take the handheld plastic bottle using the right arm and give it a shake.", + "Pick the cylindrical bottle with rounded cap and perform shaking motion.", + "Using the right arm, shake the green bottle with black text label and then place it back.", + "Grasp the green bottle with black text label with the right arm and shake it.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Shake the green bottle with white label after lifting it.", + "Grab the bottle with yellow cap and move it to shake.", + "Shake the green bottle after grabbing it.", + "Hold the green bottle with white label and shake it properly.", + "Pick the green bottle, shake it with the right arm.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Grab and shake the handheld plastic bottle using the right arm.", + "Shake the smooth green and yellow bottle firmly after grabbing.", + "Grab the handheld plastic bottle with the right arm and shake.", + "Secure the handheld plastic bottle and perform a shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the cylindrical liquid bottle with yellow top with the right arm and shake it.", + "Lift the smooth green and yellow bottle with the right arm and shake.", + "Hold the smooth green and yellow bottle steady, then shake it.", + "Hold and shake the the plastic bottle carefully.", + "Secure the green bottle with black text label, shake it, and place it down.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to hold the green bottle with white label and shake it.", + "Catch the bottle with glossy plastic finish and shake it instantly.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Pick the bottle with glossy plastic finish up using the right arm and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Grip the medium bottle with green body using the right arm and shake.", + "Hold the cylindrical bottle with rounded cap with the right arm and shake lightly.", + "Lift up the smooth green and yellow bottle using the right arm, then shake.", + "Grab the cylindrical bottle with rounded cap firmly, shake it, and put it down.", + "Grab the cylindrical liquid bottle with yellow top and give it a shake.", + "Lift the plastic bottle and shake it gently.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the the green bottle with black text label properly after lifting.", + "Shake the smooth green and yellow bottle using the right arm after grabbing.", + "Use the right arm to pick and shake the bottle with yellow cap.", + "Grab the green bottle with white label carefully and shake.", + "Use the right arm to grab the plastic bottle and shake it.", + "Grab the green bottle with white label using the right arm, then shake.", + "Pick up the plastic bottle and shake it.", + "With the right arm, pick the medium bottle with green body and shake properly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Pick up the smooth green and yellow bottle and shake it well.", + "Use the right arm to grab the bottle with yellow cap and shake properly.", + "Use the right arm to lift and shake the smooth green and yellow bottle.", + "Hold the cylindrical bottle with rounded cap, shake it briefly.", + "Grab the green bottle with black text label and shake it steadily.", + "Shake the green bottle with white label after holding it firmly.", + "Take the cylindrical liquid bottle with yellow top using the right arm and give it a shake.", + "Pick the cylindrical bottle with rounded cap and perform shaking motion.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Grasp the bottle with glossy plastic finish with the right arm and shake it.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Shake the plastic bottle after lifting it.", + "Grab the smooth green and yellow bottle and move it to shake.", + "Shake the medium bottle with green body after grabbing it.", + "Hold the cylindrical liquid bottle with yellow top and shake it properly.", + "Pick the handheld plastic bottle, shake it with the right arm.", + "Shake the green bottle with white label thoroughly after grabbing it.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Grab and shake the plastic bottle with colored label using the right arm.", + "Shake the green bottle with white label firmly after grabbing.", + "Grab the green bottle with white label with the right arm and shake.", + "Secure the green bottle with black text label and perform a shake.", + "Use the right arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Lift the bottle with glossy plastic finish with the right arm and shake it.", + "Lift the medium bottle with green body with the right arm and shake.", + "Hold the handheld plastic bottle steady, then shake it.", + "Hold and shake the the green bottle with black text label carefully.", + "Secure the cylindrical bottle with rounded cap, shake it, and place it down.", + "Use the right arm to lift and shake the plastic bottle with colored label.", + "Use the right arm to hold the bottle with yellow cap and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Shake the green bottle with black text label after grabbing it.", + "Pick the cylindrical bottle with rounded cap up using the right arm and shake it.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Grip the handheld plastic bottle using the right arm and shake.", + "Hold the green bottle with white label with the right arm and shake lightly.", + "Lift up the green bottle using the right arm, then shake." + ], + "unseen": [ + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode434.json b/shake_bottle/ur5_randomized_500/instructions/episode434.json new file mode 100644 index 0000000000000000000000000000000000000000..bb4cf1a0dce3c0a4b166744d6162e5223dbd89a1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode434.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Use the right arm to lift and shake the red-capped bottle.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Grab the bottle with white neck and red top and give it a shake.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Grab the plastic drink bottle carefully and shake.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Grab the red-capped bottle and shake it steadily.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Grip the red-capped bottle using the right arm and shake.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Secure the long thin bottle, shake it, and place it down.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Lift the plastic drink bottle with the right arm and give it a shake.", + "Shake the the red-capped bottle properly after lifting.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grab and shake the smooth bottle with red lid using the right arm.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick up the long thin bottle and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Grab the medium dark brown bottle and move it to shake.", + "Hold the red-capped bottle, shake it briefly.", + "Grab the plastic drink bottle with the right arm and shake.", + "Shake the brown bottle with red label after lifting it.", + "Shake the long thin bottle after holding it firmly.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Secure the hand-sized soda bottle and perform a shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Grab the Coca-Cola bottle and give it a shake.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Grab the hand-sized soda bottle carefully and shake.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Grab the long thin bottle and shake it steadily.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Grip the red-capped bottle using the right arm and shake.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Secure the red-capped bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Pick up the narrow-necked bottle and shake it.", + "Hold and shake the the brown bottle with red label carefully.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Grab the hand-sized soda bottle and move it to shake.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Grab the long thin bottle with the right arm and shake.", + "Shake the red-capped bottle after lifting it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Secure the smooth bottle with red lid and perform a shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Hold the Coca-Cola bottle and shake it properly." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode435.json b/shake_bottle/ur5_randomized_500/instructions/episode435.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2efbf911b1b64ecc7a392722a3d83474e5fe61 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode435.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it well.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Lift the bottle with ridges near base and shake it gently.", + "Shake the green bottle with indented base after lifting it.", + "Secure the handheld green bottle and perform a shake.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Grab the green bottle with indented base with the right arm and shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Shake the smooth green bottle after grabbing it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Grab and shake the smooth green bottle using the right arm.", + "Catch the bottle with narrow top and shake it instantly.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Use the right arm to lift and shake the handheld green bottle.", + "Lift the smooth green bottle and shake it thoroughly.", + "Secure the medium green bottle, shake it, and place it down.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Grab the smooth green bottle and give it a shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Shake the bottle with ridges near base after holding it firmly.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the medium-sized green bottle carefully and shake.", + "Hold the medium-sized green bottle and shake it properly.", + "Shake the medium green bottle after grabbing it.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Hold the bottle with rounded neck, shake it briefly.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Grab the medium green bottle using the right arm, then shake.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Grab the bottle with narrow top and move it to shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to lift and shake the handheld green bottle.", + "Pick the smooth green plastic bottle, shake it with the right arm.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the the bottle with narrow top properly after lifting.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Grasp the smooth green bottle with the right arm and shake it.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Pick up the handheld green bottle and shake it well.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the medium green bottle after lifting it.", + "Secure the green bottle with indented base and perform a shake.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Hold the medium green bottle steady, then shake it.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Lift the plastic bottle with the right arm and shake it.", + "With the right arm, pick the medium green bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Shake the medium green bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Pick the medium green bottle up using the right arm and shake it.", + "Grab the green bottle with indented base and give it a shake.", + "Pick up the handheld green bottle and shake it.", + "Shake the medium green bottle after grabbing it.", + "Use the right arm to hold the medium green bottle and shake it.", + "Shake the handheld green bottle after holding it firmly.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Grab the bottle with ridges near base carefully and shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Shake the handheld green bottle after grabbing it.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Grab the medium green bottle using the right arm, then shake.", + "Use the right arm to grab the bottle with rounded neck and shake it.", + "Grab the handheld green bottle and move it to shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Pick the smooth green bottle, shake it with the right arm.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Hold and shake the the bottle with narrow top carefully.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the bottle with rounded neck and shake it steadily.", + "Grip the plastic bottle using the right arm and shake.", + "Grasp the medium green bottle with the right arm and shake it." + ], + "unseen": [ + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode436.json b/shake_bottle/ur5_randomized_500/instructions/episode436.json new file mode 100644 index 0000000000000000000000000000000000000000..acca800c335113d22755b1322bf7befbce96cf5a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode436.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with orange screw cap and shake it gently.", + "Shake the bottle with tapering neck thoroughly after grabbing it.", + "Shake the white cylindrical bottle firmly after grabbing.", + "Shake the white bottle with orange lid after grabbing it.", + "Grab the plastic bottle and give it a shake.", + "Pick the cylindrical bottle with red writing and perform shaking motion.", + "Use the right arm to grab the plastic bottle and shake it.", + "Secure the white bottle for liquids, shake it, and place it down.", + "Hold the plastic bottle steady, then shake it.", + "Grab the white bottle firmly, shake it, and put it down.", + "Take the bottle with tapering neck using the right arm and give it a shake.", + "Using the right arm, shake the bottle with orange screw cap and then place it back.", + "Use the right arm to pick and shake the handheld white bottle with cap.", + "Hold the white bottle for liquids, shake it briefly.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle with tapering neck using the right arm, then shake.", + "Utilize the right arm to hold the handheld white bottle with cap and shake it.", + "Lift the white bottle with orange lid with the right arm and give it a shake.", + "Hold the medium-sized bottle with the right arm and shake lightly.", + "Shake the handheld white bottle with cap using the right arm after grabbing.", + "Hold the white bottle with red text and shake it properly.", + "Grab the bottle with orange screw cap and move it to shake.", + "Pick up the handheld white bottle with cap and shake it.", + "Shake the white bottle for liquids after holding it firmly.", + "Use the right arm to grab the smooth bottle and shake properly.", + "Shake the white cylindrical bottle after lifting it.", + "Grab and shake the handheld white bottle with cap using the right arm.", + "Pick the bottle with orange screw cap up using the right arm and shake it.", + "Lift the cylindrical bottle with red writing with the right arm and shake.", + "Pick up the white bottle for liquids and shake it well.", + "Grab the cylindrical bottle with red writing and shake it steadily.", + "With the right arm, pick the bottle with orange screw cap and shake properly.", + "Use the right arm to lift and shake the white bottle.", + "Catch the medium-sized bottle and shake it instantly.", + "Grab the plastic bottle carefully and shake.", + "Pick the bottle with orange screw cap up with the right arm and shake.", + "Lift up the white bottle with red text using the right arm, then shake.", + "Grasp the white bottle with the right arm and shake it.", + "Pick the white bottle with orange lid, shake it with the right arm.", + "Lift the white bottle for liquids and shake it thoroughly.", + "Use the right arm to lift and shake the white bottle.", + "Secure the white bottle and perform a shake.", + "Hold and shake the the bottle with tapering neck carefully.", + "Shake the white bottle after grabbing it.", + "Grip the bottle with orange screw cap using the right arm and shake.", + "Lift the medium-sized bottle with the right arm and shake it.", + "Grab the handheld white bottle with cap with the right arm and shake.", + "Shake the the white bottle properly after lifting.", + "Use the right arm to hold the white bottle with orange lid and shake it.", + "Lift the white bottle for liquids and shake it gently.", + "Shake the bottle with orange screw cap thoroughly after grabbing it.", + "Shake the white bottle with red text firmly after grabbing.", + "Shake the white cylindrical bottle after grabbing it.", + "Grab the white bottle with red text and give it a shake.", + "Pick the white cylindrical bottle and perform shaking motion.", + "Use the right arm to grab the plastic bottle and shake it.", + "Secure the smooth bottle, shake it, and place it down.", + "Hold the medium-sized bottle steady, then shake it.", + "Grab the smooth bottle firmly, shake it, and put it down.", + "Take the cylindrical bottle with red writing using the right arm and give it a shake.", + "Using the right arm, shake the white bottle with orange lid and then place it back.", + "Use the right arm to pick and shake the medium-sized bottle.", + "Hold the smooth bottle, shake it briefly.", + "Use the right arm to lift and shake the smooth bottle.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Grab the white bottle with red text using the right arm, then shake.", + "Utilize the right arm to hold the cylindrical bottle with red writing and shake it.", + "Lift the white bottle for liquids with the right arm and give it a shake.", + "Hold the white bottle with orange lid with the right arm and shake lightly.", + "Shake the white bottle with orange lid using the right arm after grabbing.", + "Hold the medium-sized bottle and shake it properly.", + "Grab the bottle with tapering neck and move it to shake.", + "Pick up the cylindrical bottle with red writing and shake it.", + "Shake the white bottle after holding it firmly.", + "Use the right arm to grab the white bottle with orange lid and shake properly.", + "Shake the smooth bottle after lifting it.", + "Grab and shake the medium-sized bottle using the right arm.", + "Pick the bottle with orange screw cap up using the right arm and shake it.", + "Lift the medium-sized bottle with the right arm and shake.", + "Pick up the cylindrical bottle with red writing and shake it well.", + "Grab the cylindrical bottle with red writing and shake it steadily.", + "With the right arm, pick the white bottle for liquids and shake properly.", + "Use the right arm to lift and shake the white cylindrical bottle.", + "Catch the bottle with tapering neck and shake it instantly.", + "Grab the white bottle with orange lid carefully and shake.", + "Pick the white bottle for liquids up with the right arm and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Pick the handheld white bottle with cap, shake it with the right arm.", + "Lift the handheld white bottle with cap and shake it thoroughly.", + "Use the right arm to lift and shake the white bottle.", + "Secure the bottle with tapering neck and perform a shake.", + "Hold and shake the the medium-sized bottle carefully.", + "Shake the plastic bottle after grabbing it.", + "Grip the medium-sized bottle using the right arm and shake.", + "Lift the white bottle for liquids with the right arm and shake it.", + "Grab the white bottle with the right arm and shake.", + "Shake the the plastic bottle properly after lifting.", + "Use the right arm to hold the cylindrical bottle with red writing and shake it." + ], + "unseen": [ + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Pick and shake the the plastic bottle with printed label with the right arm.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Pick up the plastic bottle with printed label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode437.json b/shake_bottle/ur5_randomized_500/instructions/episode437.json new file mode 100644 index 0000000000000000000000000000000000000000..31555938d5a960636c94378afd5abc7418afbf65 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode437.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the hand-sized bottle with grooves with the right arm and shake.", + "Use the right arm to hold the brown bottle and shake it.", + "Shake the small brown plastic bottle after grabbing it.", + "Lift up the bottle with tapered cylindrical shape using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Use the right arm to grab the bottle with green cap and shake it.", + "Using the right arm, shake the brown bottle with green screw-on cap and then place it back.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "Use the right arm to lift and shake the plastic bottle with ribbed pattern.", + "Pick up the smooth plastic bottle for beverages and shake it well.", + "Pick the brown bottle with green screw-on cap, shake it with the right arm.", + "Hold the hand-sized bottle with grooves with the right arm and shake lightly.", + "Grab the cylindrical bottle with white label firmly, shake it, and put it down.", + "Grab the brown bottle using the right arm, then shake.", + "Lift the brown bottle with the right arm and shake.", + "Use the right arm to grab the smooth plastic bottle for beverages and shake properly.", + "Shake the the cylindrical bottle with white label properly after lifting.", + "Secure the smooth plastic bottle for beverages, shake it, and place it down.", + "Lift the hand-sized bottle with grooves and shake it thoroughly.", + "Lift the small drink bottle with logo with the right arm and give it a shake.", + "Grasp the small brown plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the brown bottle with white printed label and shake it.", + "Shake the brown bottle with white printed label firmly after grabbing.", + "Pick the brown bottle with white printed label up with the right arm and shake.", + "Grab and shake the bottle with tapered cylindrical shape using the right arm.", + "Lift the smooth plastic bottle for beverages with the right arm and shake it.", + "Pick up the bottle with tapered cylindrical shape and shake it.", + "Grab the bottle with green cap and shake it steadily.", + "Pick the bottle with green cap and perform shaking motion.", + "Grab the green-capped bottle and give it a shake.", + "Secure the hand-sized bottle with grooves and perform a shake.", + "Hold and shake the the bottle with tapered cylindrical shape carefully.", + "With the right arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Hold the smooth plastic bottle for beverages, shake it briefly.", + "Pick the smooth plastic bottle for beverages up using the right arm and shake it.", + "Lift the small drink bottle with logo and shake it gently.", + "Take the plastic bottle with ribbed pattern using the right arm and give it a shake.", + "Use the right arm to pick and shake the small brown plastic bottle.", + "Shake the bottle with green cap after grabbing it.", + "Hold the green-capped bottle and shake it properly.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Hold the brown bottle steady, then shake it.", + "Shake the brown bottle after holding it firmly.", + "Grip the brown bottle with green screw-on cap using the right arm and shake.", + "Catch the small drink bottle with logo and shake it instantly.", + "Shake the small brown plastic bottle after lifting it.", + "Grab the small drink bottle with logo and move it to shake.", + "Shake the hand-sized bottle with grooves using the right arm after grabbing.", + "Grab the bottle with tapered cylindrical shape with the right arm and shake.", + "Use the right arm to hold the brown bottle with green screw-on cap and shake it.", + "Shake the small drink bottle with logo after grabbing it.", + "Lift up the brown bottle with white printed label using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with green cap.", + "Shake the bottle with green cap after grabbing it.", + "Use the right arm to grab the bottle with green cap and shake it.", + "Using the right arm, shake the bottle with tapered cylindrical shape and then place it back.", + "Shake the hand-sized bottle with grooves thoroughly after grabbing it.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Pick up the brown bottle with white printed label and shake it well.", + "Pick the cylindrical bottle with white label, shake it with the right arm.", + "Hold the plastic bottle with ribbed pattern with the right arm and shake lightly.", + "Grab the bottle with tapered cylindrical shape firmly, shake it, and put it down.", + "Grab the smooth plastic bottle for beverages using the right arm, then shake.", + "Lift the small brown plastic bottle with the right arm and shake.", + "Use the right arm to grab the hand-sized bottle with grooves and shake properly.", + "Shake the the bottle with green cap properly after lifting.", + "Secure the brown bottle with white printed label, shake it, and place it down.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Lift the hand-sized bottle with grooves with the right arm and give it a shake.", + "Grasp the brown bottle with the right arm and shake it.", + "Utilize the right arm to hold the cylindrical bottle with white label and shake it.", + "Shake the green-capped bottle firmly after grabbing.", + "Pick the brown bottle with white printed label up with the right arm and shake.", + "Grab and shake the bottle with green cap using the right arm.", + "Lift the brown bottle with green screw-on cap with the right arm and shake it.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Grab the green-capped bottle and shake it steadily.", + "Pick the bottle with green cap and perform shaking motion.", + "Grab the cylindrical bottle with white label and give it a shake.", + "Secure the plastic bottle with ribbed pattern and perform a shake.", + "Hold and shake the the green-capped bottle carefully.", + "With the right arm, pick the hand-sized bottle with grooves and shake properly.", + "Hold the brown bottle, shake it briefly.", + "Pick the smooth plastic bottle for beverages up using the right arm and shake it.", + "Lift the smooth plastic bottle for beverages and shake it gently.", + "Take the brown bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the green-capped bottle.", + "Shake the brown bottle with white printed label after grabbing it.", + "Hold the plastic bottle with ribbed pattern and shake it properly.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Hold the brown bottle with white printed label steady, then shake it.", + "Shake the green-capped bottle after holding it firmly.", + "Grip the smooth plastic bottle for beverages using the right arm and shake.", + "Catch the cylindrical bottle with white label and shake it instantly.", + "Shake the hand-sized bottle with grooves after lifting it.", + "Grab the small drink bottle with logo and move it to shake.", + "Shake the small brown plastic bottle using the right arm after grabbing." + ], + "unseen": [ + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode438.json b/shake_bottle/ur5_randomized_500/instructions/episode438.json new file mode 100644 index 0000000000000000000000000000000000000000..c14a65606a2a421b056cb36372d926b8f88c1755 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode438.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle, shake it with the left arm.", + "Hold the white and blue bottle steady, then shake it.", + "Grab the medium-sized bottle carefully and shake.", + "Secure the medium bottle for beverages, shake it, and place it down.", + "Use the left arm to lift and shake the blue bottle.", + "Shake the the handheld bottle properly after lifting.", + "Pick the white bottle with blue accents up using the left arm and shake it.", + "Grab and shake the white and blue bottle using the left arm.", + "Lift the cylindrical bottle and shake it gently.", + "With the left arm, pick the plastic bottle and shake properly.", + "Use the left arm to grab the blue bottle and shake properly.", + "Catch the medium-sized bottle and shake it instantly.", + "Secure the medium-sized bottle and perform a shake.", + "Lift the medium bottle for beverages with the left arm and shake.", + "Grab the white bottle with blue accents with the left arm and shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Shake the plastic bottle after grabbing it.", + "Grip the blue bottle using the left arm and shake.", + "Hold the handheld bottle and shake it properly.", + "Shake the smooth plastic bottle after grabbing it.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Use the left arm to hold the bottle with blue cap and shake it.", + "Shake the blue bottle firmly after grabbing.", + "Shake the handheld bottle after grabbing it.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Lift the white and blue bottle with the left arm and give it a shake.", + "Using the left arm, shake the medium bottle for beverages and then place it back.", + "Grab the handheld bottle using the left arm, then shake.", + "Hold and shake the the handheld bottle carefully.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Grab the bottle with blue cap and give it a shake.", + "Utilize the left arm to hold the white and blue bottle and shake it.", + "Use the left arm to grab the bottle with blue cap and shake it.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Pick up the medium bottle for beverages and shake it well.", + "Lift the white bottle with blue accents and shake it thoroughly.", + "Shake the white bottle with blue accents after lifting it.", + "Grab the plastic bottle and move it to shake.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Pick up the medium-sized bottle and shake it.", + "Grasp the cylindrical bottle with the left arm and shake it.", + "Hold the blue bottle, shake it briefly.", + "Shake the handheld bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Use the left arm to lift and shake the white and blue bottle.", + "Pick the blue bottle with label up with the left arm and shake.", + "Shake the plastic bottle after holding it firmly.", + "Grab the handheld bottle and shake it steadily.", + "Use the left arm to lift and shake the white and blue bottle.", + "Pick the cylindrical bottle, shake it with the left arm.", + "Hold the white bottle with blue accents steady, then shake it.", + "Grab the blue bottle with label carefully and shake.", + "Secure the white and blue bottle, shake it, and place it down.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Shake the the bottle for liquids properly after lifting.", + "Pick the cylindrical bottle up using the left arm and shake it.", + "Grab and shake the handheld bottle using the left arm.", + "Lift the smooth plastic bottle and shake it gently.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Catch the medium-sized bottle and shake it instantly.", + "Secure the bottle for liquids and perform a shake.", + "Lift the bottle for liquids with the left arm and shake.", + "Grab the white and blue bottle with the left arm and shake.", + "Lift up the bottle for liquids using the left arm, then shake.", + "Shake the bottle with blue cap after grabbing it.", + "Grip the white bottle with blue accents using the left arm and shake.", + "Hold the smooth plastic bottle and shake it properly.", + "Shake the medium-sized bottle after grabbing it.", + "Take the handheld bottle using the left arm and give it a shake.", + "Use the left arm to hold the handheld bottle and shake it.", + "Shake the medium-sized bottle firmly after grabbing.", + "Shake the cylindrical bottle after grabbing it.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Lift the blue bottle with label with the left arm and shake it.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Grab the bottle with blue cap using the left arm, then shake.", + "Hold and shake the the blue bottle carefully.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "Grab the blue bottle with label and give it a shake.", + "Utilize the left arm to hold the medium bottle for beverages and shake it.", + "Use the left arm to grab the white and blue bottle and shake it.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Pick up the blue bottle and shake it well.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Shake the blue bottle with label after lifting it.", + "Grab the bottle with blue cap and move it to shake.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Pick up the cylindrical bottle and shake it.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Hold the blue bottle, shake it briefly.", + "Shake the cylindrical bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the handheld bottle.", + "Use the left arm to lift and shake the blue bottle with label.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Shake the white and blue bottle after holding it firmly.", + "Grab the blue bottle and shake it steadily.", + "Use the left arm to lift and shake the cylindrical bottle." + ], + "unseen": [ + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode439.json b/shake_bottle/ur5_randomized_500/instructions/episode439.json new file mode 100644 index 0000000000000000000000000000000000000000..c7bc6ed0f75487f0d5201cd9032d766429ed56a4 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode439.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the medium plastic bottle with cap and shake it.", + "Pick up the yellow bottle with dark label and shake it.", + "Shake the yellow bottle with dark label after grabbing it.", + "Shake the yellow bottle with dark label using the left arm after grabbing.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Grab the bottle for liquid firmly, shake it, and put it down.", + "Grab the smooth plastic bottle and shake it steadily.", + "Shake the bottle for liquid after holding it firmly.", + "Use the left arm to lift and shake the handheld curvy bottle.", + "Hold the medium-sized bottle and shake it properly.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Use the left arm to grab the yellow bottle with blue label and shake it.", + "Pick up the handheld curvy bottle and shake it well.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick the yellow bottle with dark label up using the left arm and shake it.", + "Lift the smooth plastic bottle and shake it gently.", + "Shake the handheld curvy bottle after lifting it.", + "Pick the plastic bottle, shake it with the left arm.", + "Lift the bottle for liquid with the left arm and shake it.", + "Grab the handheld curvy bottle with the left arm and shake.", + "Use the left arm to pick and shake the handheld curvy bottle.", + "Utilize the left arm to hold the medium plastic bottle with cap and shake it.", + "Hold the medium plastic bottle with cap with the left arm and shake lightly.", + "Pick the medium-sized bottle and perform shaking motion.", + "Grab the smooth plastic bottle carefully and shake.", + "Lift the yellow bottle for liquid storage with the left arm and shake.", + "Shake the bottle for liquid thoroughly after grabbing it.", + "Secure the medium-sized bottle and perform a shake.", + "Hold the yellow bottle with dark label steady, then shake it.", + "Shake the the medium-sized bottle properly after lifting.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Shake the handheld curvy bottle after grabbing it.", + "Use the left arm to grab the smooth plastic bottle and shake properly.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Pick the yellow bottle for liquid storage up with the left arm and shake.", + "Grab and shake the medium plastic bottle with cap using the left arm.", + "Hold and shake the the smooth plastic bottle carefully.", + "Lift up the handheld curvy bottle using the left arm, then shake.", + "With the left arm, pick the yellow bottle and shake properly.", + "Grab the bottle with screw cap and move it to shake.", + "Catch the plastic bottle and shake it instantly.", + "Using the left arm, shake the medium plastic bottle with cap and then place it back.", + "Shake the medium plastic bottle with cap firmly after grabbing.", + "Hold the bottle for liquid, shake it briefly.", + "Grab the bottle for liquid using the left arm, then shake.", + "Take the yellow bottle using the left arm and give it a shake.", + "Grasp the handheld curvy bottle with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with screw cap.", + "Grip the yellow bottle with dark label using the left arm and shake.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Pick up the bottle for liquid and shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Grab the yellow bottle for liquid storage and shake it steadily.", + "Shake the yellow bottle after holding it firmly.", + "Use the left arm to lift and shake the yellow bottle with blue label.", + "Hold the plastic bottle with curved sides and shake it properly.", + "Secure the handheld curvy bottle, shake it, and place it down.", + "Use the left arm to grab the medium-sized bottle and shake it.", + "Pick up the yellow bottle with blue label and shake it well.", + "Lift the medium plastic bottle with cap and shake it thoroughly.", + "Pick the smooth plastic bottle up using the left arm and shake it.", + "Lift the plastic bottle with curved sides and shake it gently.", + "Shake the bottle with screw cap after lifting it.", + "Pick the plastic bottle with curved sides, shake it with the left arm.", + "Lift the handheld curvy bottle with the left arm and shake it.", + "Grab the medium plastic bottle with cap with the left arm and shake.", + "Use the left arm to pick and shake the bottle with screw cap.", + "Utilize the left arm to hold the bottle for liquid and shake it.", + "Hold the medium-sized bottle with the left arm and shake lightly.", + "Pick the yellow bottle with blue label and perform shaking motion.", + "Grab the medium plastic bottle with cap carefully and shake.", + "Lift the handheld curvy bottle with the left arm and shake.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Secure the yellow bottle with blue label and perform a shake.", + "Hold the smooth plastic bottle steady, then shake it.", + "Shake the the bottle for liquid properly after lifting.", + "Lift the handheld curvy bottle with the left arm and give it a shake.", + "Shake the yellow bottle after grabbing it.", + "Use the left arm to grab the plastic bottle with curved sides and shake properly.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Pick the yellow bottle with blue label up with the left arm and shake.", + "Grab and shake the handheld curvy bottle using the left arm.", + "Hold and shake the the plastic bottle carefully.", + "Lift up the yellow bottle using the left arm, then shake.", + "With the left arm, pick the smooth plastic bottle and shake properly.", + "Grab the medium-sized bottle and move it to shake.", + "Catch the bottle with screw cap and shake it instantly.", + "Using the left arm, shake the medium plastic bottle with cap and then place it back.", + "Shake the bottle with screw cap firmly after grabbing.", + "Hold the yellow bottle with blue label, shake it briefly.", + "Grab the bottle with screw cap using the left arm, then shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grasp the medium plastic bottle with cap with the left arm and shake it.", + "Use the left arm to lift and shake the medium plastic bottle with cap.", + "Grip the yellow bottle with blue label using the left arm and shake." + ], + "unseen": [ + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the curvy yellow plastic bottle and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow bottle with white cap with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Shake the smooth bottle with blue text after picking it with the left arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text with the left arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the left arm.", + "Use the left arm to grab the smooth bottle with blue text and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the left arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the left arm and shake.", + "Pick and shake the the smooth bottle with blue text with the left arm.", + "Use the left arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the left arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode44.json b/shake_bottle/ur5_randomized_500/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..1b1dcf876bb3aaecce3baf0ee2fc99f881e9f56f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Shake the yellow container with rounded edges after lifting it.", + "Shake the bottle with a smooth plastic body firmly after grabbing.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Lift the yellow container with rounded edges and shake it gently.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Lift the bottle with green and white labels and shake it thoroughly.", + "Using the left arm, shake the yellow bottle with a green design and then place it back.", + "Pick the plastic bottle and perform shaking motion.", + "Secure the bottle with green label, shake it, and place it down.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "Utilize the left arm to hold the bottle with green label and shake it.", + "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Use the left arm to hold the bottle with green label and shake it.", + "Pick the yellow container with rounded edges up using the left arm and shake it.", + "Use the left arm to grab the yellow bottle with a green design and shake it.", + "Grab the yellow container with rounded edges using the left arm, then shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift up the yellow container with rounded edges using the left arm, then shake.", + "Grab and shake the rectangular bottle with cylindrical neck using the left arm.", + "With the left arm, pick the medium rectangular yellow bottle and shake properly.", + "Pick the yellow bottle with a green design, shake it with the left arm.", + "Grab the yellow container with rounded edges and give it a shake.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Use the left arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Grab the yellow bottle with a green design and move it to shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Hold the bottle with green label steady, then shake it.", + "Hold and shake the the bottle with green and white labels carefully.", + "Hold the yellow plastic bottle with white top with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with green label.", + "Use the left arm to lift and shake the bottle with green label.", + "Take the yellow bottle using the left arm and give it a shake.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Lift the yellow bottle with a green design with the left arm and shake.", + "Grip the yellow bottle using the left arm and shake.", + "Lift the bottle with white cap with the left arm and shake it.", + "Shake the yellow bottle with a green design after grabbing it.", + "Shake the the bottle with white cap properly after lifting.", + "Shake the medium rectangular yellow bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the yellow plastic bottle with white top.", + "Secure the yellow bottle and perform a shake.", + "Use the left arm to lift and shake the bottle with green label.", + "Shake the rectangular bottle with cylindrical neck after holding it firmly.", + "Hold the bottle with white cap, shake it briefly.", + "Hold the rectangular bottle with cylindrical neck and shake it properly.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Shake the yellow bottle with a green design after lifting it.", + "Shake the yellow plastic bottle with white top firmly after grabbing.", + "Grab the yellow container with rounded edges carefully and shake.", + "Lift the smooth bottle with rounded edges and shake it gently.", + "Grasp the smooth bottle with rounded edges with the left arm and shake it.", + "Lift the bottle with green label and shake it thoroughly.", + "Using the left arm, shake the bottle with a smooth plastic body and then place it back.", + "Pick the bottle with white cap and perform shaking motion.", + "Secure the bottle with green label, shake it, and place it down.", + "Grab the yellow container with rounded edges with the left arm and shake.", + "Utilize the left arm to hold the yellow bottle with a green design and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Pick the medium rectangular yellow bottle up using the left arm and shake it.", + "Use the left arm to grab the bottle with white cap and shake it.", + "Grab the smooth bottle with rounded edges using the left arm, then shake.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Lift up the yellow plastic bottle with white top using the left arm, then shake.", + "Grab and shake the yellow bottle with a green design using the left arm.", + "With the left arm, pick the yellow bottle with a green design and shake properly.", + "Pick the yellow bottle with a green design, shake it with the left arm.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Pick up the bottle with white cap and shake it well.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Use the left arm to grab the bottle with green label and shake properly.", + "Grab the bottle with green label and move it to shake.", + "Shake the bottle with white cap after grabbing it.", + "Lift the yellow bottle with a green design with the left arm and give it a shake.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Hold the yellow plastic bottle with white top with the left arm and shake lightly.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Lift the rectangular bottle with cylindrical neck with the left arm and shake.", + "Grip the bottle with green label using the left arm and shake.", + "Lift the bottle with green and white labels with the left arm and shake it.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Shake the the bottle with green label properly after lifting.", + "Shake the yellow plastic bottle with white top using the left arm after grabbing.", + "Use the left arm to pick and shake the bottle with white cap.", + "Secure the bottle with white cap and perform a shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Shake the bottle with a smooth plastic body after holding it firmly.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Hold the bottle with green and white labels and shake it properly.", + "Grab the bottle with green and white labels and shake it steadily." + ], + "unseen": [ + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode440.json b/shake_bottle/ur5_randomized_500/instructions/episode440.json new file mode 100644 index 0000000000000000000000000000000000000000..dbabe6fa0566f46293e058d75289b11e236da593 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode440.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium-sized brown plastic bottle after grabbing it.", + "With the left arm, pick the dark brown bottle with a squared body and shake properly.", + "Hold and shake the the rectangular-shaped bottle with round cap carefully.", + "Use the left arm to pick and shake the bottle with green cap.", + "Shake the the brown bottle properly after lifting.", + "Grab the dark brown bottle with a squared body and move it to shake.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the bottle with green cap and shake it steadily.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Grasp the dark brown bottle with a squared body with the left arm and shake it.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Pick the dark brown bottle with a squared body and perform shaking motion.", + "Grab and shake the rectangular-shaped bottle with round cap using the left arm.", + "Catch the bottle with flat sides and logo and shake it instantly.", + "Grab the bottle with green cap and give it a shake.", + "Pick up the smooth plastic bottle with white cap and shake it.", + "Grab the bottle with green cap using the left arm, then shake.", + "Secure the brown bottle and perform a shake.", + "Use the left arm to hold the bottle with flat sides and logo and shake it.", + "Pick the smooth brown bottle with green label up with the left arm and shake.", + "Shake the bottle with green cap after grabbing it.", + "Pick the rectangular-shaped bottle with round cap, shake it with the left arm.", + "Lift up the plastic bottle using the left arm, then shake.", + "Shake the dark brown bottle with a squared body using the left arm after grabbing.", + "Lift the rectangular brown body with white top and shake it thoroughly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Lift the rectangular-shaped bottle with round cap with the left arm and give it a shake.", + "Secure the bottle with green cap, shake it, and place it down.", + "Hold the plastic bottle steady, then shake it.", + "Use the left arm to grab the dark brown bottle with a squared body and shake properly.", + "Lift the medium bottle with glossy surface with the left arm and shake it.", + "Hold the brown bottle with rounded rectangular shape, shake it briefly.", + "Using the left arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Lift the dark brown bottle with a squared body and shake it gently.", + "Grab the bottle with green cap with the left arm and shake.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Use the left arm to grab the smooth brown bottle with green label and shake it.", + "Grab the rectangular-shaped bottle with round cap carefully and shake.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Shake the smooth plastic bottle with white cap thoroughly after grabbing it.", + "Take the medium-sized brown plastic bottle using the left arm and give it a shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Hold the rectangular brown body with white top with the left arm and shake lightly.", + "Grip the plastic bottle using the left arm and shake.", + "Pick up the smooth plastic bottle with white cap and shake it well.", + "Shake the rectangular brown body with white top after holding it firmly.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "With the left arm, pick the smooth plastic bottle with white cap and shake properly.", + "Hold and shake the the dark brown bottle with a squared body carefully.", + "Use the left arm to pick and shake the smooth plastic bottle with white cap.", + "Shake the the bottle with green cap properly after lifting.", + "Grab the medium bottle with glossy surface and move it to shake.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the bottle with flat sides and logo and shake it steadily.", + "Use the left arm to lift and shake the plastic bottle.", + "Grasp the dark brown bottle with a squared body with the left arm and shake it.", + "Shake the dark brown bottle with a squared body after lifting it.", + "Pick the bottle with green cap and perform shaking motion.", + "Grab and shake the smooth plastic bottle with white cap using the left arm.", + "Catch the bottle with flat sides and logo and shake it instantly.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Pick up the medium-sized brown plastic bottle and shake it.", + "Grab the rectangular brown body with white top using the left arm, then shake.", + "Secure the smooth brown bottle with green label and perform a shake.", + "Use the left arm to hold the smooth brown bottle with green label and shake it.", + "Pick the medium bottle with glossy surface up with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Pick the rectangular-shaped bottle with round cap, shake it with the left arm.", + "Lift up the smooth brown bottle with green label using the left arm, then shake.", + "Shake the smooth brown bottle with green label using the left arm after grabbing.", + "Lift the medium-sized brown plastic bottle and shake it thoroughly.", + "Utilize the left arm to hold the smooth plastic bottle with white cap and shake it.", + "Lift the medium-sized brown plastic bottle with the left arm and give it a shake.", + "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.", + "Hold the rectangular-shaped bottle with round cap steady, then shake it.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Lift the medium bottle with glossy surface with the left arm and shake it.", + "Hold the bottle with flat sides and logo, shake it briefly.", + "Using the left arm, shake the rectangular brown body with white top and then place it back.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Lift the brown bottle with rounded rectangular shape and shake it gently.", + "Grab the rectangular brown body with white top with the left arm and shake.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Use the left arm to grab the bottle with flat sides and logo and shake it.", + "Grab the bottle with green cap carefully and shake.", + "Hold the plastic bottle and shake it properly.", + "Shake the dark brown bottle with a squared body firmly after grabbing.", + "Shake the smooth plastic bottle with white cap thoroughly after grabbing it.", + "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.", + "Pick the smooth plastic bottle with white cap up using the left arm and shake it.", + "Hold the brown bottle with the left arm and shake lightly.", + "Grip the medium bottle with glossy surface using the left arm and shake.", + "Pick up the smooth plastic bottle with white cap and shake it well.", + "Shake the medium bottle with glossy surface after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the dark brown bottle with a squared body firmly, shake it, and put it down." + ], + "unseen": [ + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode441.json b/shake_bottle/ur5_randomized_500/instructions/episode441.json new file mode 100644 index 0000000000000000000000000000000000000000..e01a1d0b4a7a5d1d402677aacf19789c26a5a78a --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode441.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the drink bottle with rounded yellow lid and perform shaking motion.", + "Hold the beverage bottle with black body with the left arm and shake lightly.", + "Pick up the black cylindrical bottle with ridges and shake it.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Lift the yellow capped drink bottle with the left arm and give it a shake.", + "Grab the plastic bottle with colorful label and shake it steadily.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Grab the bottle with blue and yellow print firmly, shake it, and put it down.", + "Grasp the yellow-capped cylindrical bottle with the left arm and shake it.", + "Use the left arm to pick and shake the medium bottle with yellow cap.", + "Lift up the black plastic bottle with Pepsi logo using the left arm, then shake.", + "Shake the black cylindrical bottle with ridges after lifting it.", + "Secure the black plastic bottle with Pepsi logo and perform a shake.", + "Utilize the left arm to hold the medium bottle with yellow cap and shake it.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Shake the drink bottle with rounded yellow lid firmly after grabbing.", + "Grab the black cylindrical bottle with ridges and give it a shake.", + "Hold the bottle with blue and yellow print, shake it briefly.", + "Pick the beverage bottle with black body, shake it with the left arm.", + "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Pick the black cylindrical bottle with ridges up using the left arm and shake it.", + "Shake the beverage bottle with black body after grabbing it.", + "Shake the the plastic bottle with colorful label properly after lifting.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Lift the yellow-capped cylindrical bottle with the left arm and shake.", + "Grab the black cylindrical bottle with ridges carefully and shake.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Pick up the black plastic bottle with Pepsi logo and shake it well.", + "Grab the plastic bottle with colorful label and move it to shake.", + "Grab and shake the plastic bottle with colorful label using the left arm.", + "With the left arm, pick the black cylindrical bottle with ridges and shake properly.", + "Pick the medium black bottle with printed label up with the left arm and shake.", + "Use the left arm to hold the drink bottle with rounded yellow lid and shake it.", + "Use the left arm to grab the black bottle and shake properly.", + "Use the left arm to lift and shake the yellow capped drink bottle.", + "Hold and shake the the yellow-capped cylindrical bottle carefully.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Grab the yellow capped drink bottle with the left arm and shake.", + "Lift the medium black bottle with printed label and shake it thoroughly.", + "Take the yellow capped drink bottle using the left arm and give it a shake.", + "Use the left arm to grab the smooth black bottle with ridges and shake it.", + "Grab the medium bottle with yellow cap using the left arm, then shake.", + "Hold the drink bottle with rounded yellow lid and shake it properly.", + "Lift the medium bottle with yellow cap with the left arm and shake it.", + "Secure the yellow capped drink bottle, shake it, and place it down.", + "Using the left arm, shake the black cylindrical bottle with ridges and then place it back.", + "Grip the bottle with blue and yellow print using the left arm and shake.", + "Shake the medium bottle with yellow cap using the left arm after grabbing.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Hold the yellow-capped cylindrical bottle with the left arm and shake lightly.", + "Pick up the beverage bottle with black body and shake it.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Lift the beverage bottle with black body with the left arm and give it a shake.", + "Grab the bottle with blue and yellow print and shake it steadily.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.", + "Use the left arm to pick and shake the yellow capped drink bottle.", + "Lift up the plastic bottle with colorful label using the left arm, then shake.", + "Shake the beverage bottle with black body after lifting it.", + "Secure the smooth black bottle with ridges and perform a shake.", + "Utilize the left arm to hold the medium bottle with yellow cap and shake it.", + "Lift the plastic bottle with colorful label and shake it gently.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Hold the smooth black bottle with ridges, shake it briefly.", + "Pick the yellow-capped cylindrical bottle, shake it with the left arm.", + "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Pick the black bottle up using the left arm and shake it.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Shake the the black cylindrical bottle with ridges properly after lifting.", + "Shake the black plastic bottle with Pepsi logo after holding it firmly.", + "Lift the smooth black bottle with ridges with the left arm and shake.", + "Grab the beverage bottle with black body carefully and shake.", + "Catch the medium bottle with yellow cap and shake it instantly.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Grab the black cylindrical bottle with ridges and move it to shake.", + "Grab and shake the yellow capped drink bottle using the left arm.", + "With the left arm, pick the black plastic bottle with Pepsi logo and shake properly.", + "Pick the plastic bottle with colorful label up with the left arm and shake.", + "Use the left arm to hold the medium bottle with yellow cap and shake it.", + "Use the left arm to grab the black bottle and shake properly.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Hold and shake the the beverage bottle with black body carefully.", + "Hold the plastic bottle with colorful label steady, then shake it.", + "Grab the beverage bottle with black body with the left arm and shake.", + "Lift the medium bottle with yellow cap and shake it thoroughly.", + "Take the black plastic bottle with Pepsi logo using the left arm and give it a shake.", + "Use the left arm to grab the medium black bottle with printed label and shake it.", + "Grab the plastic bottle with colorful label using the left arm, then shake.", + "Hold the yellow-capped cylindrical bottle and shake it properly.", + "Lift the drink bottle with rounded yellow lid with the left arm and shake it.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Using the left arm, shake the medium black bottle with printed label and then place it back.", + "Grip the beverage bottle with black body using the left arm and shake.", + "Shake the plastic bottle with colorful label using the left arm after grabbing." + ], + "unseen": [ + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode442.json b/shake_bottle/ur5_randomized_500/instructions/episode442.json new file mode 100644 index 0000000000000000000000000000000000000000..1d8996eccc82e52538eef850a8583eeb0f3d6d35 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode442.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the curved orange soda bottle using the right arm and shake.", + "Hold the smooth orange bottle and shake it properly.", + "Secure the smooth orange bottle, shake it, and place it down.", + "Lift the cylindrical orange plastic bottle with the right arm and shake.", + "Lift the ridged orange bottle with grooves with the right arm and give it a shake.", + "Shake the light and medium-sized bottle after grabbing it.", + "Hold the cylindrical orange plastic bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Pick the cylindrical orange plastic bottle up with the right arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Grab the curved orange soda bottle carefully and shake.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Catch the cylindrical orange plastic bottle and shake it instantly.", + "Lift the round-bottom bottle with white cap and shake it gently.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Grab the grooved orange drink bottle using the right arm, then shake.", + "Grab and shake the plastic bottle using the right arm.", + "Shake the ridged orange bottle with grooves using the right arm after grabbing.", + "Pick the curved orange soda bottle and perform shaking motion.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Using the right arm, shake the grooved orange drink bottle and then place it back.", + "Grasp the light and medium-sized bottle with the right arm and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick the orange bottle, shake it with the right arm.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Hold the round-bottom bottle with white cap steady, then shake it.", + "Pick the grooved orange drink bottle up using the right arm and shake it.", + "Lift the plastic bottle with the right arm and shake it.", + "Use the right arm to pick and shake the orange drink bottle with label.", + "Lift the medium bottle with colorful label and shake it thoroughly.", + "Shake the bottle for holding drinks after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to grab the medium bottle with colorful label and shake properly.", + "With the right arm, pick the light and medium-sized bottle and shake properly.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Lift up the orange drink bottle with label using the right arm, then shake.", + "Use the right arm to hold the smooth orange bottle and shake it.", + "Shake the light and medium-sized bottle thoroughly after grabbing it.", + "Shake the grooved orange drink bottle after lifting it.", + "Secure the bottle for holding drinks and perform a shake.", + "Use the right arm to grab the orange drink bottle with label and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Pick up the cylindrical orange plastic bottle and shake it well.", + "Grab the plastic bottle with the right arm and shake.", + "Grab the orange bottle and move it to shake.", + "Pick up the round-bottom bottle with white cap and shake it.", + "Grab the bottle for holding drinks and shake it steadily.", + "Take the orange bottle using the right arm and give it a shake.", + "Shake the orange drink bottle with label after holding it firmly.", + "Grip the plastic bottle using the right arm and shake.", + "Hold the round-bottom bottle with white cap and shake it properly.", + "Secure the bottle for holding drinks, shake it, and place it down.", + "Lift the bottle for holding drinks with the right arm and shake.", + "Lift the orange drink bottle with label with the right arm and give it a shake.", + "Shake the orange bottle after grabbing it.", + "Hold the orange bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the round-bottom bottle with white cap.", + "Pick the curved orange soda bottle up with the right arm and shake.", + "Grab the bottle for holding drinks and give it a shake.", + "Grab the light and medium-sized bottle carefully and shake.", + "Shake the the plastic bottle properly after lifting.", + "Catch the round-bottom bottle with white cap and shake it instantly.", + "Lift the orange drink bottle with label and shake it gently.", + "Grab the orange drink bottle with label firmly, shake it, and put it down.", + "Grab the light and medium-sized bottle using the right arm, then shake.", + "Grab and shake the orange drink bottle with label using the right arm.", + "Shake the smooth orange bottle using the right arm after grabbing.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Hold the curved orange soda bottle, shake it briefly.", + "Using the right arm, shake the cylindrical orange plastic bottle and then place it back.", + "Grasp the orange bottle with the right arm and shake it.", + "Shake the orange bottle after grabbing it.", + "Pick the plastic bottle, shake it with the right arm.", + "Hold and shake the the bottle for holding drinks carefully.", + "Hold the light and medium-sized bottle steady, then shake it.", + "Pick the round-bottom bottle with white cap up using the right arm and shake it.", + "Lift the grooved orange drink bottle with the right arm and shake it.", + "Use the right arm to pick and shake the light and medium-sized bottle.", + "Lift the smooth orange bottle and shake it thoroughly.", + "Shake the medium bottle with colorful label after grabbing it.", + "Use the right arm to lift and shake the cylindrical orange plastic bottle.", + "Use the right arm to grab the grooved orange drink bottle and shake properly.", + "With the right arm, pick the cylindrical orange plastic bottle and shake properly.", + "Shake the plastic bottle firmly after grabbing.", + "Lift up the bottle for holding drinks using the right arm, then shake.", + "Use the right arm to hold the light and medium-sized bottle and shake it.", + "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.", + "Shake the cylindrical orange plastic bottle after lifting it.", + "Secure the smooth orange bottle and perform a shake.", + "Use the right arm to grab the grooved orange drink bottle and shake it.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Utilize the right arm to hold the grooved orange drink bottle and shake it.", + "Pick up the plastic bottle and shake it well.", + "Grab the round-bottom bottle with white cap with the right arm and shake.", + "Grab the grooved orange drink bottle and move it to shake.", + "Pick up the light and medium-sized bottle and shake it.", + "Grab the curved orange soda bottle and shake it steadily.", + "Take the curved orange soda bottle using the right arm and give it a shake.", + "Shake the curved orange soda bottle after holding it firmly." + ], + "unseen": [ + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the bottle with white cap and shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the right arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap with the right arm and shake.", + "Use the right arm to pick the bottle with white cap.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode443.json b/shake_bottle/ur5_randomized_500/instructions/episode443.json new file mode 100644 index 0000000000000000000000000000000000000000..9154ab1ad48ab42c646fbc8db39271bce5a83178 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode443.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the bottle with orange screw cap.", + "Use the left arm to lift and shake the cylindrical bottle with red writing.", + "Grab the cylindrical bottle with red writing and give it a shake.", + "Shake the white bottle for liquids using the left arm after grabbing.", + "Catch the white bottle with red text and shake it instantly.", + "Lift the bottle with orange screw cap and shake it thoroughly.", + "Lift the white cylindrical bottle with the left arm and shake.", + "Utilize the left arm to hold the smooth bottle and shake it.", + "Grab the smooth bottle carefully and shake.", + "Hold the bottle with orange screw cap steady, then shake it.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Shake the bottle with tapering neck thoroughly after grabbing it.", + "Use the left arm to grab the medium-sized bottle and shake it.", + "Grab and shake the medium-sized bottle using the left arm.", + "Lift up the bottle with orange screw cap using the left arm, then shake.", + "Pick up the white bottle with red text and shake it.", + "With the left arm, pick the bottle with orange screw cap and shake properly.", + "Shake the white cylindrical bottle after grabbing it.", + "Pick up the bottle with tapering neck and shake it well.", + "Using the left arm, shake the white bottle with red text and then place it back.", + "Hold and shake the the white bottle with red text carefully.", + "Use the left arm to grab the handheld white bottle with cap and shake properly.", + "Hold the cylindrical bottle with red writing, shake it briefly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the white bottle for liquids after holding it firmly.", + "Pick the bottle with tapering neck and perform shaking motion.", + "Use the left arm to hold the bottle with orange screw cap and shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Secure the smooth bottle, shake it, and place it down.", + "Secure the white bottle with orange lid and perform a shake.", + "Lift the bottle with orange screw cap with the left arm and shake it.", + "Grab the medium-sized bottle and move it to shake.", + "Shake the white bottle after lifting it.", + "Lift the bottle with tapering neck with the left arm and give it a shake.", + "Pick the white cylindrical bottle up with the left arm and shake.", + "Shake the handheld white bottle with cap firmly after grabbing.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to lift and shake the smooth bottle.", + "Shake the plastic bottle after grabbing it.", + "Shake the smooth bottle after grabbing it.", + "Lift the cylindrical bottle with red writing and shake it gently.", + "Grab the bottle with orange screw cap with the left arm and shake.", + "Shake the the cylindrical bottle with red writing properly after lifting.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Hold the smooth bottle and shake it properly.", + "Hold the bottle with tapering neck with the left arm and shake lightly.", + "Grip the bottle with tapering neck using the left arm and shake.", + "Grab the bottle with orange screw cap and shake it steadily.", + "Take the plastic bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the bottle with tapering neck.", + "Use the left arm to lift and shake the cylindrical bottle with red writing.", + "Grab the white bottle for liquids and give it a shake.", + "Shake the handheld white bottle with cap using the left arm after grabbing.", + "Catch the white cylindrical bottle and shake it instantly.", + "Lift the cylindrical bottle with red writing and shake it thoroughly.", + "Lift the white cylindrical bottle with the left arm and shake.", + "Utilize the left arm to hold the bottle with orange screw cap and shake it.", + "Grab the white cylindrical bottle carefully and shake.", + "Hold the cylindrical bottle with red writing steady, then shake it.", + "Grasp the bottle with orange screw cap with the left arm and shake it.", + "Shake the white bottle with orange lid thoroughly after grabbing it.", + "Use the left arm to grab the white bottle with orange lid and shake it.", + "Grab and shake the white bottle for liquids using the left arm.", + "Lift up the cylindrical bottle with red writing using the left arm, then shake.", + "Pick up the white cylindrical bottle and shake it.", + "With the left arm, pick the white bottle with orange lid and shake properly.", + "Shake the white bottle for liquids after grabbing it.", + "Pick up the handheld white bottle with cap and shake it well.", + "Using the left arm, shake the cylindrical bottle with red writing and then place it back.", + "Hold and shake the the white cylindrical bottle carefully.", + "Use the left arm to grab the handheld white bottle with cap and shake properly.", + "Hold the white bottle, shake it briefly.", + "Grab the white cylindrical bottle firmly, shake it, and put it down.", + "Pick the white cylindrical bottle up using the left arm and shake it.", + "Shake the white bottle with orange lid after holding it firmly.", + "Pick the white cylindrical bottle and perform shaking motion.", + "Use the left arm to hold the white cylindrical bottle and shake it.", + "Grab the medium-sized bottle using the left arm, then shake.", + "Secure the handheld white bottle with cap, shake it, and place it down.", + "Secure the medium-sized bottle and perform a shake.", + "Lift the bottle with orange screw cap with the left arm and shake it.", + "Grab the bottle with orange screw cap and move it to shake.", + "Shake the white bottle with orange lid after lifting it.", + "Lift the smooth bottle with the left arm and give it a shake.", + "Pick the bottle with orange screw cap up with the left arm and shake.", + "Shake the white bottle with orange lid firmly after grabbing.", + "Use the left arm to lift and shake the white bottle with red text.", + "Use the left arm to lift and shake the white bottle for liquids.", + "Shake the white bottle for liquids after grabbing it.", + "Shake the white bottle with red text after grabbing it.", + "Lift the white bottle with red text and shake it gently.", + "Grab the white bottle with red text with the left arm and shake.", + "Shake the the bottle with tapering neck properly after lifting.", + "Pick the white bottle with red text, shake it with the left arm.", + "Hold the bottle with tapering neck and shake it properly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grip the handheld white bottle with cap using the left arm and shake.", + "Grab the bottle with orange screw cap and shake it steadily.", + "Take the smooth bottle using the left arm and give it a shake." + ], + "unseen": [ + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Use the left arm to grab the bottle with orange cap and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode444.json b/shake_bottle/ur5_randomized_500/instructions/episode444.json new file mode 100644 index 0000000000000000000000000000000000000000..d57ad7a08bb91d34952db5ddceb8b90867710ae5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode444.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with blue cap and give it a shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Pick the medium bottle for beverages up using the right arm and shake it.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Hold the cylindrical bottle, shake it briefly.", + "Lift the bottle for liquids and shake it thoroughly.", + "Shake the white and blue bottle after grabbing it.", + "Grab the cylindrical bottle with the right arm and shake.", + "Hold the bottle with blue cap and shake it properly.", + "Grab the white bottle with blue accents and shake it steadily.", + "Shake the bottle with blue cap firmly after grabbing.", + "Lift the bottle with blue cap with the right arm and shake it.", + "Shake the medium bottle for beverages after grabbing it.", + "Shake the the cylindrical bottle properly after lifting.", + "Shake the cylindrical bottle after holding it firmly.", + "Catch the smooth plastic bottle and shake it instantly.", + "Grip the blue bottle with label using the right arm and shake.", + "Utilize the right arm to hold the medium-sized bottle and shake it.", + "Hold the blue bottle with the right arm and shake lightly.", + "Take the blue bottle using the right arm and give it a shake.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Lift the blue bottle and shake it gently.", + "Grab the white bottle with blue accents using the right arm, then shake.", + "With the right arm, pick the medium bottle for beverages and shake properly.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Pick up the cylindrical bottle and shake it.", + "Use the right arm to lift and shake the blue bottle.", + "Secure the smooth plastic bottle and perform a shake.", + "Pick up the bottle for liquids and shake it well.", + "Shake the medium bottle for beverages using the right arm after grabbing.", + "Shake the cylindrical bottle after grabbing it.", + "Hold and shake the the cylindrical bottle carefully.", + "Grab and shake the blue bottle using the right arm.", + "Using the right arm, shake the medium-sized bottle and then place it back.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Lift the blue bottle with the right arm and shake.", + "Use the right arm to pick and shake the blue bottle.", + "Lift up the blue bottle with label using the right arm, then shake.", + "Grab the medium-sized bottle carefully and shake.", + "Use the right arm to grab the medium bottle for beverages and shake it.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Shake the bottle for liquids after lifting it.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to hold the bottle with blue cap and shake it.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Hold the handheld bottle steady, then shake it.", + "Grab the bottle with blue cap and give it a shake.", + "Use the right arm to lift and shake the cylindrical bottle.", + "Pick the white and blue bottle up using the right arm and shake it.", + "Pick the medium bottle for beverages and perform shaking motion.", + "Hold the medium-sized bottle, shake it briefly.", + "Lift the bottle with blue cap and shake it thoroughly.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the bottle with blue cap with the right arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Grab the blue bottle and shake it steadily.", + "Shake the white bottle with blue accents firmly after grabbing.", + "Lift the medium-sized bottle with the right arm and shake it.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the the medium-sized bottle properly after lifting.", + "Shake the blue bottle with label after holding it firmly.", + "Catch the cylindrical bottle and shake it instantly.", + "Grip the handheld bottle using the right arm and shake.", + "Utilize the right arm to hold the cylindrical bottle and shake it.", + "Hold the medium-sized bottle with the right arm and shake lightly.", + "Take the blue bottle using the right arm and give it a shake.", + "Secure the bottle for liquids, shake it, and place it down.", + "Lift the blue bottle with label and shake it gently.", + "Grab the white and blue bottle using the right arm, then shake.", + "With the right arm, pick the bottle with blue cap and shake properly.", + "Grasp the white and blue bottle with the right arm and shake it.", + "Pick up the white and blue bottle and shake it.", + "Use the right arm to lift and shake the handheld bottle.", + "Secure the plastic bottle and perform a shake.", + "Pick up the smooth plastic bottle and shake it well.", + "Shake the medium bottle for beverages using the right arm after grabbing.", + "Shake the medium-sized bottle after grabbing it.", + "Hold and shake the the plastic bottle carefully.", + "Grab and shake the white bottle with blue accents using the right arm.", + "Using the right arm, shake the bottle for liquids and then place it back.", + "Use the right arm to lift and shake the bottle for liquids.", + "Use the right arm to grab the handheld bottle and shake properly.", + "Pick the plastic bottle up with the right arm and shake.", + "Pick the white and blue bottle, shake it with the right arm.", + "Lift the bottle with blue cap with the right arm and give it a shake.", + "Lift the blue bottle with label with the right arm and shake.", + "Use the right arm to pick and shake the cylindrical bottle.", + "Lift up the blue bottle with label using the right arm, then shake.", + "Grab the blue bottle with label carefully and shake.", + "Use the right arm to grab the bottle with blue cap and shake it.", + "Grab the handheld bottle firmly, shake it, and put it down.", + "Shake the blue bottle after lifting it.", + "Grab the bottle with blue cap and move it to shake.", + "Use the right arm to hold the blue bottle with label and shake it.", + "Shake the medium bottle for beverages thoroughly after grabbing it.", + "Hold the white and blue bottle steady, then shake it." + ], + "unseen": [ + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode445.json b/shake_bottle/ur5_randomized_500/instructions/episode445.json new file mode 100644 index 0000000000000000000000000000000000000000..f204cde77497227b368390aee9aab3c9dcd05fad --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode445.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the blue bottle with label using the left arm, then shake.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Shake the smooth plastic bottle after holding it firmly.", + "Grab the bottle for liquids and shake it steadily.", + "Secure the plastic bottle and perform a shake.", + "Lift the blue bottle with label with the left arm and shake it.", + "Utilize the left arm to hold the white and blue bottle and shake it.", + "Use the left arm to grab the white and blue bottle and shake properly.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Pick the blue bottle and perform shaking motion.", + "Lift the smooth plastic bottle and shake it gently.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the white and blue bottle and move it to shake.", + "Pick up the handheld bottle and shake it.", + "Grab the cylindrical bottle carefully and shake.", + "Secure the blue bottle, shake it, and place it down.", + "Pick the medium-sized bottle, shake it with the left arm.", + "Shake the plastic bottle after grabbing it.", + "Grasp the medium bottle for beverages with the left arm and shake it.", + "Shake the the bottle with blue cap properly after lifting.", + "Shake the medium bottle for beverages after grabbing it.", + "Pick up the smooth plastic bottle and shake it well.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to grab the white bottle with blue accents and shake it.", + "With the left arm, pick the blue bottle and shake properly.", + "Hold and shake the the plastic bottle carefully.", + "Lift the medium bottle for beverages with the left arm and shake.", + "Use the left arm to lift and shake the blue bottle.", + "Grab the handheld bottle with the left arm and shake.", + "Use the left arm to hold the blue bottle and shake it.", + "Hold the cylindrical bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle for liquids.", + "Shake the cylindrical bottle firmly after grabbing.", + "Hold the blue bottle, shake it briefly.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift up the blue bottle using the left arm, then shake.", + "Take the medium-sized bottle using the left arm and give it a shake.", + "Grab and shake the bottle for liquids using the left arm.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the left arm to pick and shake the white and blue bottle.", + "Shake the medium bottle for beverages using the left arm after grabbing.", + "Lift the bottle for liquids and shake it thoroughly.", + "Shake the blue bottle with label after lifting it.", + "Use the left arm to lift and shake the handheld bottle.", + "Pick the handheld bottle up using the left arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "Grab the white bottle with blue accents and give it a shake.", + "Grip the bottle for liquids using the left arm and shake.", + "Catch the blue bottle with label and shake it instantly.", + "Grab the white bottle with blue accents using the left arm, then shake.", + "Pick the handheld bottle up with the left arm and shake.", + "Shake the medium-sized bottle after holding it firmly.", + "Grab the blue bottle with label and shake it steadily.", + "Secure the smooth plastic bottle and perform a shake.", + "Lift the bottle for liquids with the left arm and shake it.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Use the left arm to grab the white and blue bottle and shake properly.", + "Lift the handheld bottle with the left arm and give it a shake.", + "Pick the cylindrical bottle and perform shaking motion.", + "Lift the cylindrical bottle and shake it gently.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Grab the cylindrical bottle and move it to shake.", + "Pick up the smooth plastic bottle and shake it.", + "Grab the plastic bottle carefully and shake.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Pick the plastic bottle, shake it with the left arm.", + "Shake the cylindrical bottle after grabbing it.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the the blue bottle properly after lifting.", + "Shake the medium bottle for beverages after grabbing it.", + "Pick up the bottle with blue cap and shake it well.", + "Hold the bottle for liquids and shake it properly.", + "Use the left arm to grab the white and blue bottle and shake it.", + "With the left arm, pick the cylindrical bottle and shake properly.", + "Hold and shake the the white bottle with blue accents carefully.", + "Lift the white bottle with blue accents with the left arm and shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Grab the bottle for liquids with the left arm and shake.", + "Use the left arm to hold the blue bottle and shake it.", + "Hold the blue bottle steady, then shake it.", + "Use the left arm to lift and shake the handheld bottle.", + "Shake the medium-sized bottle firmly after grabbing.", + "Hold the blue bottle, shake it briefly.", + "Using the left arm, shake the medium-sized bottle and then place it back.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Take the blue bottle with label using the left arm and give it a shake.", + "Grab and shake the bottle for liquids using the left arm.", + "Shake the white and blue bottle after grabbing it.", + "Use the left arm to pick and shake the white bottle with blue accents.", + "Shake the plastic bottle using the left arm after grabbing.", + "Lift the bottle for liquids and shake it thoroughly.", + "Shake the bottle for liquids after lifting it.", + "Use the left arm to lift and shake the bottle for liquids.", + "Pick the bottle with blue cap up using the left arm and shake it.", + "Grab the medium-sized bottle firmly, shake it, and put it down.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grab the bottle for liquids and give it a shake.", + "Grip the handheld bottle using the left arm and shake.", + "Catch the cylindrical bottle and shake it instantly." + ], + "unseen": [ + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode446.json b/shake_bottle/ur5_randomized_500/instructions/episode446.json new file mode 100644 index 0000000000000000000000000000000000000000..c6b8f427677be279ce043174714195fdac1efee7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode446.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the medium bottle with orange lid using the left arm and give it a shake.", + "Grab the yellow label bottle and give it a shake.", + "Lift the medium orange bottle with the left arm and shake.", + "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.", + "Hold the medium bottle with orange lid and shake it properly.", + "Shake the yellow label bottle after lifting it.", + "With the left arm, pick the cylindrical orange and white bottle and shake properly.", + "Shake the drinking bottle with yellow label after holding it firmly.", + "Pick the medium orange bottle and perform shaking motion.", + "Pick the drinking bottle with yellow label up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Shake the medium orange bottle firmly after grabbing.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Lift the bottle with ribbed orange bottom and shake it gently.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Grab the orange and white bottle with cap with the left arm and shake.", + "Pick up the bottle with orange cap and shake it well.", + "Grab the smooth plastic bottle carefully and shake.", + "Pick the medium orange bottle up with the left arm and shake.", + "Shake the the yellow label bottle properly after lifting.", + "Use the left arm to grab the bottle with orange cap and shake it.", + "Grab and shake the orange bottle using the left arm.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Grab the cylindrical orange and white bottle using the left arm, then shake.", + "Secure the yellow label bottle and perform a shake.", + "Pick up the orange bottle and shake it.", + "Grasp the medium bottle with orange lid with the left arm and shake it.", + "Utilize the left arm to hold the bottle with ribbed orange bottom and shake it.", + "Use the left arm to pick and shake the cylindrical orange and white bottle.", + "Shake the orange bottle after grabbing it.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Hold the white and orange plastic bottle, shake it briefly.", + "Shake the orange and white bottle with cap using the left arm after grabbing.", + "Catch the orange bottle and shake it instantly.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Grip the white and orange plastic bottle using the left arm and shake.", + "Grab the medium orange bottle and shake it steadily.", + "Lift the bottle with orange cap with the left arm and shake it.", + "Pick the drinking bottle with yellow label, shake it with the left arm.", + "Hold and shake the the orange and white bottle with cap carefully.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Lift the medium orange bottle with the left arm and give it a shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the yellow label bottle.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Hold the yellow label bottle with the left arm and shake lightly.", + "Hold the medium orange bottle steady, then shake it.", + "Take the drinking bottle with yellow label using the left arm and give it a shake.", + "Grab the smooth plastic bottle and give it a shake.", + "Lift the cylindrical orange and white bottle with the left arm and shake.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Hold the yellow label bottle and shake it properly.", + "Shake the medium orange bottle after lifting it.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Shake the white and orange plastic bottle after holding it firmly.", + "Pick the yellow label bottle and perform shaking motion.", + "Pick the bottle with ribbed orange bottom up using the left arm and shake it.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Shake the cylindrical orange and white bottle firmly after grabbing.", + "Lift up the medium orange bottle using the left arm, then shake.", + "Using the left arm, shake the medium bottle with orange lid and then place it back.", + "Lift the orange and white bottle with cap and shake it gently.", + "Shake the orange bottle thoroughly after grabbing it.", + "Grab the medium orange bottle with the left arm and shake.", + "Pick up the bottle with ribbed orange bottom and shake it well.", + "Grab the yellow label bottle carefully and shake.", + "Pick the drinking bottle with yellow label up with the left arm and shake.", + "Shake the the orange bottle properly after lifting.", + "Use the left arm to grab the bottle with orange cap and shake it.", + "Grab and shake the cylindrical orange and white bottle using the left arm.", + "Secure the orange bottle, shake it, and place it down.", + "Grab the bottle with orange cap using the left arm, then shake.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Pick up the yellow label bottle and shake it.", + "Grasp the white and orange plastic bottle with the left arm and shake it.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Use the left arm to pick and shake the orange and white bottle with cap.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Hold the medium orange bottle, shake it briefly.", + "Shake the white and orange plastic bottle using the left arm after grabbing.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Shake the smooth plastic bottle after grabbing it.", + "Grip the bottle with ribbed orange bottom using the left arm and shake.", + "Grab the drinking bottle with yellow label and shake it steadily.", + "Lift the cylindrical orange and white bottle with the left arm and shake it.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to hold the yellow label bottle and shake it.", + "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.", + "Lift the medium orange bottle and shake it thoroughly.", + "Use the left arm to lift and shake the orange bottle.", + "Use the left arm to grab the yellow label bottle and shake properly.", + "Use the left arm to lift and shake the orange bottle.", + "Hold the cylindrical orange and white bottle with the left arm and shake lightly.", + "Hold the orange and white bottle with cap steady, then shake it." + ], + "unseen": [ + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode447.json b/shake_bottle/ur5_randomized_500/instructions/episode447.json new file mode 100644 index 0000000000000000000000000000000000000000..caba9f39f2d77ace9ddecb462f50d16cf848e2f6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode447.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the smooth orange bottle and shake it.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Grab the orange bottle carefully and shake.", + "Lift the bottle for holding drinks and shake it thoroughly.", + "Pick the medium bottle with colorful label up using the right arm and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Lift the orange bottle and shake it gently.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Lift the orange bottle with the right arm and give it a shake.", + "Grab the grooved orange drink bottle firmly, shake it, and put it down.", + "Secure the round-bottom bottle with white cap, shake it, and place it down.", + "Hold the plastic bottle, shake it briefly.", + "Lift the cylindrical orange plastic bottle with the right arm and shake.", + "Shake the smooth orange bottle after grabbing it.", + "Grip the grooved orange drink bottle using the right arm and shake.", + "Shake the the plastic bottle properly after lifting.", + "Catch the plastic bottle and shake it instantly.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Pick up the grooved orange drink bottle and shake it.", + "Lift the smooth orange bottle with the right arm and shake it.", + "Grab the light and medium-sized bottle using the right arm, then shake.", + "Shake the orange drink bottle with label using the right arm after grabbing.", + "Grasp the grooved orange drink bottle with the right arm and shake it.", + "Grab the light and medium-sized bottle with the right arm and shake.", + "Shake the curved orange soda bottle firmly after grabbing.", + "Use the right arm to lift and shake the grooved orange drink bottle.", + "Use the right arm to grab the curved orange soda bottle and shake it.", + "With the right arm, pick the grooved orange drink bottle and shake properly.", + "Grab the light and medium-sized bottle and move it to shake.", + "Pick the orange drink bottle with label up with the right arm and shake.", + "Secure the ridged orange bottle with grooves and perform a shake.", + "Take the medium bottle with colorful label using the right arm and give it a shake.", + "Shake the cylindrical orange plastic bottle after lifting it.", + "Using the right arm, shake the bottle for holding drinks and then place it back.", + "Pick up the bottle for holding drinks and shake it well.", + "Use the right arm to grab the orange drink bottle with label and shake properly.", + "Use the right arm to pick and shake the orange drink bottle with label.", + "Lift up the medium bottle with colorful label using the right arm, then shake.", + "Grab and shake the bottle for holding drinks using the right arm.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Hold the grooved orange drink bottle and shake it properly.", + "Utilize the right arm to hold the bottle for holding drinks and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Shake the grooved orange drink bottle after holding it firmly.", + "Use the right arm to lift and shake the smooth orange bottle.", + "Use the right arm to lift and shake the orange bottle.", + "Hold the light and medium-sized bottle steady, then shake it.", + "Pick the cylindrical orange plastic bottle, shake it with the right arm.", + "Grab the light and medium-sized bottle and give it a shake.", + "Hold the curved orange soda bottle with the right arm and shake lightly.", + "Use the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Grab the cylindrical orange plastic bottle and shake it steadily.", + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Lift the grooved orange drink bottle and shake it thoroughly.", + "Pick the medium bottle with colorful label up using the right arm and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Lift the smooth orange bottle and shake it gently.", + "Hold and shake the the round-bottom bottle with white cap carefully.", + "Lift the orange bottle with the right arm and give it a shake.", + "Grab the grooved orange drink bottle firmly, shake it, and put it down.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the orange drink bottle with label, shake it briefly.", + "Lift the orange drink bottle with label with the right arm and shake.", + "Shake the grooved orange drink bottle after grabbing it.", + "Grip the grooved orange drink bottle using the right arm and shake.", + "Shake the the bottle for holding drinks properly after lifting.", + "Catch the curved orange soda bottle and shake it instantly.", + "Shake the curved orange soda bottle after grabbing it.", + "Pick up the plastic bottle and shake it.", + "Lift the medium bottle with colorful label with the right arm and shake it.", + "Grab the round-bottom bottle with white cap using the right arm, then shake.", + "Shake the medium bottle with colorful label using the right arm after grabbing.", + "Grasp the medium bottle with colorful label with the right arm and shake it.", + "Grab the orange bottle with the right arm and shake.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Use the right arm to lift and shake the orange drink bottle with label.", + "Use the right arm to grab the orange bottle and shake it.", + "With the right arm, pick the orange bottle and shake properly.", + "Grab the medium bottle with colorful label and move it to shake.", + "Pick the medium bottle with colorful label up with the right arm and shake.", + "Secure the round-bottom bottle with white cap and perform a shake.", + "Take the orange bottle using the right arm and give it a shake.", + "Shake the grooved orange drink bottle after lifting it.", + "Using the right arm, shake the grooved orange drink bottle and then place it back.", + "Pick up the bottle for holding drinks and shake it well.", + "Use the right arm to grab the round-bottom bottle with white cap and shake properly.", + "Use the right arm to pick and shake the cylindrical orange plastic bottle.", + "Lift up the orange bottle using the right arm, then shake.", + "Grab and shake the medium bottle with colorful label using the right arm.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Hold the ridged orange bottle with grooves and shake it properly.", + "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.", + "Shake the orange bottle after grabbing it.", + "Shake the orange drink bottle with label after holding it firmly.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Use the right arm to lift and shake the bottle for holding drinks.", + "Hold the grooved orange drink bottle steady, then shake it.", + "Pick the smooth orange bottle, shake it with the right arm.", + "Grab the curved orange soda bottle and give it a shake.", + "Hold the round-bottom bottle with white cap with the right arm and shake lightly." + ], + "unseen": [ + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the right arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the right arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the right arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the bottle with white cap and shake it.", + "Use the right arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the right arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the right arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the right arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the right arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip with the right arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with ridged orange grip after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode448.json b/shake_bottle/ur5_randomized_500/instructions/episode448.json new file mode 100644 index 0000000000000000000000000000000000000000..611dceabbcaf875942b9692b0a1ce8785f2e6497 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode448.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the plastic bottle and shake it.", + "Hold and shake the the medium green bottle carefully.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the plastic bottle using the right arm, then shake.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Catch the bottle with ridges near base and shake it instantly.", + "Shake the the bottle with rounded neck properly after lifting.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Grab the bottle with narrow top and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the bottle with narrow top after holding it firmly.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "With the right arm, pick the medium green bottle and shake properly.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Hold the medium-sized green bottle, shake it briefly.", + "Take the medium green bottle using the right arm and give it a shake.", + "Pick the smooth green bottle and perform shaking motion.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the bottle with narrow top after lifting it.", + "Pick up the medium green bottle and shake it well.", + "Grab the handheld green bottle and move it to shake.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Pick up the bottle with rounded neck and shake it.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Secure the plastic bottle and perform a shake.", + "Shake the handheld green bottle after grabbing it.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Shake the handheld green bottle after grabbing it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Hold the bottle with ridges near base steady, then shake it.", + "Hold the plastic bottle and shake it properly.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the plastic bottle with the right arm and shake it.", + "Lift the green bottle with indented base with the right arm and shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Grab the bottle with narrow top and shake it steadily.", + "Use the right arm to grab the medium green bottle and shake it.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the medium green bottle using the right arm, then shake.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the the plastic bottle properly after lifting.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Grab the medium-sized green bottle and give it a shake.", + "Grab the smooth green bottle carefully and shake.", + "Grip the handheld green bottle using the right arm and shake.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the medium-sized green bottle after holding it firmly.", + "Grab and shake the bottle with narrow top using the right arm.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Hold the handheld green bottle, shake it briefly.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Shake the bottle with rounded neck after lifting it.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the medium green bottle and move it to shake.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Pick up the green bottle with indented base and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Secure the handheld green bottle and perform a shake.", + "Shake the plastic bottle after grabbing it.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Hold the handheld green bottle steady, then shake it.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the medium green bottle with the right arm and shake it.", + "Lift the bottle with white printed label with the right arm and shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grab the plastic bottle and shake it steadily." + ], + "unseen": [ + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode449.json b/shake_bottle/ur5_randomized_500/instructions/episode449.json new file mode 100644 index 0000000000000000000000000000000000000000..9769fef64d7337747808a8dd143aed9c70d0a4a0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode449.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the handheld curvy bottle.", + "Use the right arm to grab the medium-sized bottle and shake properly.", + "Use the right arm to lift and shake the yellow bottle with dark label.", + "Shake the medium-sized bottle after grabbing it.", + "Use the right arm to grab the bottle with screw cap and shake it.", + "Using the right arm, shake the bottle for liquid and then place it back.", + "Hold the plastic bottle with curved sides, shake it briefly.", + "Shake the plastic bottle after grabbing it.", + "Shake the handheld curvy bottle thoroughly after grabbing it.", + "Lift the medium-sized bottle with the right arm and shake.", + "Shake the yellow bottle with dark label firmly after grabbing.", + "Catch the handheld curvy bottle and shake it instantly.", + "Secure the plastic bottle with curved sides, shake it, and place it down.", + "Shake the yellow bottle with dark label after lifting it.", + "Hold the medium-sized bottle steady, then shake it.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Hold and shake the the medium-sized bottle carefully.", + "Secure the yellow bottle and perform a shake.", + "Grab the handheld curvy bottle with the right arm and shake.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Utilize the right arm to hold the yellow bottle with blue label and shake it.", + "Hold the yellow bottle with blue label with the right arm and shake lightly.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Grab and shake the plastic bottle with curved sides using the right arm.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Pick up the medium plastic bottle with cap and shake it.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grab the medium plastic bottle with cap and move it to shake.", + "With the right arm, pick the bottle for liquid and shake properly.", + "Use the right arm to pick and shake the medium plastic bottle with cap.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Hold the yellow bottle for liquid storage and shake it properly.", + "Shake the handheld curvy bottle after grabbing it.", + "Grab the handheld curvy bottle and give it a shake.", + "Grab the yellow bottle with blue label using the right arm, then shake.", + "Lift the bottle for liquid with the right arm and shake it.", + "Shake the yellow bottle with blue label after holding it firmly.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Grab the yellow bottle with dark label firmly, shake it, and put it down.", + "Pick the yellow bottle with blue label, shake it with the right arm.", + "Shake the the bottle for liquid properly after lifting.", + "Take the yellow bottle with blue label using the right arm and give it a shake.", + "Grab the handheld curvy bottle carefully and shake.", + "Lift the yellow bottle with dark label and shake it thoroughly.", + "Lift the bottle for liquid and shake it gently.", + "Grab the plastic bottle with curved sides and shake it steadily.", + "Grasp the plastic bottle with curved sides with the right arm and shake it.", + "Use the right arm to hold the plastic bottle with curved sides and shake it.", + "Lift the medium plastic bottle with cap with the right arm and give it a shake.", + "Grip the yellow bottle for liquid storage using the right arm and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to grab the plastic bottle with curved sides and shake properly.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Use the right arm to grab the medium plastic bottle with cap and shake it.", + "Using the right arm, shake the medium plastic bottle with cap and then place it back.", + "Hold the yellow bottle with dark label, shake it briefly.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Lift the medium plastic bottle with cap with the right arm and shake.", + "Shake the plastic bottle with curved sides firmly after grabbing.", + "Catch the yellow bottle for liquid storage and shake it instantly.", + "Secure the yellow bottle for liquid storage, shake it, and place it down.", + "Shake the medium plastic bottle with cap after lifting it.", + "Hold the plastic bottle steady, then shake it.", + "Pick the medium-sized bottle up using the right arm and shake it.", + "Hold and shake the the yellow bottle with dark label carefully.", + "Secure the yellow bottle with blue label and perform a shake.", + "Grab the handheld curvy bottle with the right arm and shake.", + "Pick the plastic bottle with curved sides up with the right arm and shake.", + "Utilize the right arm to hold the bottle with screw cap and shake it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the yellow bottle using the right arm after grabbing.", + "Grab and shake the yellow bottle with dark label using the right arm.", + "Pick the plastic bottle and perform shaking motion.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Lift up the handheld curvy bottle using the right arm, then shake.", + "Grab the handheld curvy bottle and move it to shake.", + "With the right arm, pick the yellow bottle for liquid storage and shake properly.", + "Use the right arm to pick and shake the yellow bottle.", + "Pick up the medium-sized bottle and shake it well.", + "Hold the bottle for liquid and shake it properly.", + "Shake the bottle for liquid after grabbing it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the bottle with screw cap using the right arm, then shake.", + "Lift the handheld curvy bottle with the right arm and shake it.", + "Shake the handheld curvy bottle after holding it firmly.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Grab the yellow bottle for liquid storage firmly, shake it, and put it down.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Shake the the bottle for liquid properly after lifting.", + "Take the yellow bottle using the right arm and give it a shake.", + "Grab the yellow bottle with blue label carefully and shake.", + "Lift the yellow bottle for liquid storage and shake it thoroughly.", + "Lift the plastic bottle and shake it gently.", + "Grab the handheld curvy bottle and shake it steadily.", + "Grasp the handheld curvy bottle with the right arm and shake it.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Lift the yellow bottle with dark label with the right arm and give it a shake.", + "Grip the plastic bottle with curved sides using the right arm and shake." + ], + "unseen": [ + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick and shake the the smooth bottle with blue text with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode45.json b/shake_bottle/ur5_randomized_500/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..535b956657c18d9c0c9ed6f40c684d2d86f164e8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium bottle with smooth texture and move it to shake.", + "Utilize the right arm to hold the medium bottle with smooth texture and shake it.", + "Grab the medium plastic bottle using the right arm, then shake.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Use the right arm to pick and shake the bottle with brown body and white top.", + "Pick the medium plastic bottle up with the right arm and shake.", + "Use the right arm to hold the plastic bottle with printed label and shake it.", + "Shake the the bottle with white cap properly after lifting.", + "Hold the medium plastic bottle, shake it briefly.", + "Grip the bottle with white cap using the right arm and shake.", + "Lift the rounded bottle with printed details and shake it gently.", + "Shake the medium plastic bottle using the right arm after grabbing.", + "Shake the bottle with white cap after grabbing it.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Grab the medium bottle with smooth texture with the right arm and shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Shake the bottle with dark brown color after holding it firmly.", + "Lift the cylindrical bottle with narrow neck and shake it thoroughly.", + "Use the right arm to grab the plastic bottle with printed label and shake it.", + "Grab the smooth brown bottle and shake it steadily.", + "Pick up the bottle with brown body and white top and shake it.", + "Lift the handheld brown bottle with white lid with the right arm and shake.", + "Hold the bottle with brown body and white top and shake it properly.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Grab the bottle with brown body and white top and give it a shake.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Hold the medium bottle with smooth texture with the right arm and shake lightly.", + "Use the right arm to lift and shake the medium plastic bottle.", + "Using the right arm, shake the medium plastic bottle and then place it back.", + "Hold the bottle with white cap steady, then shake it.", + "Lift the plastic bottle with printed label with the right arm and shake it.", + "Take the plastic bottle with printed label using the right arm and give it a shake.", + "Grab the bottle with dark brown color carefully and shake.", + "Pick the rounded bottle with printed details up using the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Hold and shake the the plastic bottle with printed label carefully.", + "Lift the medium plastic bottle with the right arm and give it a shake.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Shake the plastic bottle with printed label after lifting it.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Grab and shake the medium bottle with smooth texture using the right arm.", + "Secure the bottle with brown body and white top and perform a shake.", + "Use the right arm to grab the plastic bottle for liquids and shake properly.", + "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Pick the smooth brown bottle, shake it with the right arm.", + "With the right arm, pick the handheld brown bottle with white lid and shake properly.", + "Grab the cylindrical bottle with narrow neck and move it to shake.", + "Utilize the right arm to hold the bottle with white cap and shake it.", + "Grab the rounded bottle with printed details using the right arm, then shake.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Use the right arm to pick and shake the medium bottle with smooth texture.", + "Pick the medium bottle with smooth texture up with the right arm and shake.", + "Use the right arm to hold the bottle with brown body and white top and shake it.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Hold the cylindrical bottle with narrow neck, shake it briefly.", + "Grip the plastic bottle for liquids using the right arm and shake.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Shake the medium bottle with smooth texture using the right arm after grabbing.", + "Shake the bottle with dark brown color after grabbing it.", + "Lift up the rounded bottle with printed details using the right arm, then shake.", + "Grab the cylindrical bottle with narrow neck with the right arm and shake.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Lift the smooth brown bottle and shake it thoroughly.", + "Use the right arm to grab the plastic bottle for liquids and shake it.", + "Grab the bottle with brown body and white top and shake it steadily.", + "Pick up the smooth brown bottle and shake it.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake.", + "Hold the bottle with dark brown color and shake it properly.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Grab the rounded bottle with printed details and give it a shake.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Hold the medium bottle with smooth texture with the right arm and shake lightly.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Using the right arm, shake the smooth brown bottle and then place it back.", + "Hold the bottle with brown body and white top steady, then shake it.", + "Lift the bottle with brown body and white top with the right arm and shake it.", + "Take the bottle with white cap using the right arm and give it a shake.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Pick the plastic bottle with printed label up using the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Catch the medium plastic bottle and shake it instantly.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Shake the smooth brown bottle after grabbing it.", + "Grab and shake the plastic bottle for liquids using the right arm.", + "Secure the bottle with brown body and white top and perform a shake.", + "Use the right arm to grab the plastic bottle for liquids and shake properly.", + "Grasp the handheld brown bottle with white lid with the right arm and shake it.", + "Pick up the bottle with brown body and white top and shake it well.", + "Pick the handheld brown bottle with white lid, shake it with the right arm.", + "With the right arm, pick the cylindrical bottle with narrow neck and shake properly." + ], + "unseen": [ + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to pick the brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode450.json b/shake_bottle/ur5_randomized_500/instructions/episode450.json new file mode 100644 index 0000000000000000000000000000000000000000..791f6cf0033cf7f6dbc4b5f3b0d5fb9e83623e15 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode450.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the rounded bottle with printed details using the right arm and shake.", + "Lift the medium bottle with smooth texture with the right arm and shake.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Use the right arm to hold the plastic bottle for liquids and shake it.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Grab the handheld brown bottle with white lid carefully and shake.", + "Grab the bottle with dark brown color and give it a shake.", + "Using the right arm, shake the rounded bottle with printed details and then place it back.", + "Take the white-capped brown cylindrical bottle using the right arm and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Lift the bottle with brown body and white top with the right arm and shake it.", + "Hold the medium plastic bottle steady, then shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Catch the plastic bottle for liquids and shake it instantly.", + "With the right arm, pick the plastic bottle with printed label and shake properly.", + "Pick up the plastic bottle for liquids and shake it well.", + "Pick the plastic bottle with printed label up using the right arm and shake it.", + "Grab the bottle with white cap using the right arm, then shake.", + "Lift the handheld brown bottle with white lid with the right arm and give it a shake.", + "Secure the cylindrical bottle with narrow neck and perform a shake.", + "Lift up the rounded bottle with printed details using the right arm, then shake.", + "Pick the medium plastic bottle, shake it with the right arm.", + "Shake the smooth brown bottle after lifting it.", + "Use the right arm to lift and shake the bottle with white cap.", + "Grab and shake the cylindrical bottle with narrow neck using the right arm.", + "Shake the the plastic bottle with printed label properly after lifting.", + "Use the right arm to grab the medium bottle with smooth texture and shake it.", + "Shake the white-capped brown cylindrical bottle using the right arm after grabbing.", + "Utilize the right arm to hold the bottle with white cap and shake it.", + "Grab the cylindrical bottle with narrow neck with the right arm and shake.", + "Shake the handheld brown bottle with white lid thoroughly after grabbing it.", + "Use the right arm to pick and shake the bottle with white cap.", + "Use the right arm to grab the bottle with dark brown color and shake properly.", + "Secure the smooth brown bottle, shake it, and place it down.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.", + "Hold the plastic bottle with printed label with the right arm and shake lightly.", + "Lift the plastic bottle for liquids and shake it gently.", + "Hold the cylindrical bottle with narrow neck and shake it properly.", + "Hold and shake the the bottle with white cap carefully.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "Shake the bottle with dark brown color after grabbing it.", + "Shake the bottle with dark brown color after holding it firmly.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Pick the plastic bottle with printed label up with the right arm and shake.", + "Grab the white-capped brown cylindrical bottle and move it to shake.", + "Grab the medium bottle with smooth texture firmly, shake it, and put it down.", + "Grip the rounded bottle with printed details using the right arm and shake.", + "Lift the rounded bottle with printed details with the right arm and shake.", + "Pick the bottle with white cap and perform shaking motion.", + "Use the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Use the right arm to lift and shake the bottle with dark brown color.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Grab the smooth brown bottle carefully and shake.", + "Grab the bottle with brown body and white top and give it a shake.", + "Using the right arm, shake the bottle with dark brown color and then place it back.", + "Take the cylindrical bottle with narrow neck using the right arm and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake it.", + "Hold the cylindrical bottle with narrow neck steady, then shake it.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "Catch the bottle with brown body and white top and shake it instantly.", + "With the right arm, pick the plastic bottle for liquids and shake properly.", + "Pick up the rounded bottle with printed details and shake it well.", + "Pick the medium bottle with smooth texture up using the right arm and shake it.", + "Grab the medium plastic bottle using the right arm, then shake.", + "Lift the plastic bottle with printed label with the right arm and give it a shake.", + "Secure the bottle with brown body and white top and perform a shake.", + "Lift up the rounded bottle with printed details using the right arm, then shake.", + "Pick the medium plastic bottle, shake it with the right arm.", + "Shake the medium plastic bottle after lifting it.", + "Use the right arm to lift and shake the bottle with white cap.", + "Grab and shake the plastic bottle with printed label using the right arm.", + "Shake the the bottle with dark brown color properly after lifting.", + "Use the right arm to grab the bottle with dark brown color and shake it.", + "Shake the plastic bottle for liquids using the right arm after grabbing.", + "Utilize the right arm to hold the handheld brown bottle with white lid and shake it.", + "Grab the plastic bottle for liquids with the right arm and shake.", + "Shake the handheld brown bottle with white lid thoroughly after grabbing it.", + "Use the right arm to pick and shake the plastic bottle with printed label.", + "Use the right arm to grab the handheld brown bottle with white lid and shake properly.", + "Secure the smooth brown bottle, shake it, and place it down.", + "Shake the white-capped brown cylindrical bottle firmly after grabbing.", + "Grasp the handheld brown bottle with white lid with the right arm and shake it.", + "Hold the rounded bottle with printed details with the right arm and shake lightly.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Hold the plastic bottle for liquids and shake it properly.", + "Hold and shake the the medium bottle with smooth texture carefully.", + "Hold the cylindrical bottle with narrow neck, shake it briefly.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Lift the bottle with white cap and shake it thoroughly.", + "Pick the cylindrical bottle with narrow neck up with the right arm and shake.", + "Grab the medium plastic bottle and move it to shake.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode451.json b/shake_bottle/ur5_randomized_500/instructions/episode451.json new file mode 100644 index 0000000000000000000000000000000000000000..40c7213779efd7c81b428e32732084e11f53a546 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode451.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the plastic bottle using the left arm and shake.", + "Catch the handheld bottle and shake it instantly.", + "Pick up the bottle for liquids and shake it well.", + "Use the left arm to lift and shake the white and blue bottle.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Secure the white bottle with blue accents, shake it, and place it down.", + "Use the left arm to grab the blue bottle and shake it.", + "Shake the cylindrical bottle after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Lift up the white and blue bottle using the left arm, then shake.", + "Lift the bottle for liquids and shake it thoroughly.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick the bottle with blue cap up using the left arm and shake it.", + "Grab the cylindrical bottle and give it a shake.", + "Grab the medium-sized bottle carefully and shake.", + "Hold the white and blue bottle with the left arm and shake lightly.", + "Pick the medium bottle for beverages up with the left arm and shake.", + "Lift the plastic bottle with the left arm and shake.", + "Lift the medium-sized bottle and shake it gently.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the medium bottle for beverages and move it to shake.", + "Shake the cylindrical bottle firmly after grabbing.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Hold the white and blue bottle, shake it briefly.", + "Pick up the smooth plastic bottle and shake it.", + "Pick the cylindrical bottle, shake it with the left arm.", + "Use the left arm to lift and shake the handheld bottle.", + "Take the medium bottle for beverages using the left arm and give it a shake.", + "Shake the bottle with blue cap after grabbing it.", + "Pick the medium-sized bottle and perform shaking motion.", + "Shake the smooth plastic bottle after lifting it.", + "Shake the the cylindrical bottle properly after lifting.", + "Grab the bottle for liquids with the left arm and shake.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Secure the medium-sized bottle and perform a shake.", + "Grab the white and blue bottle and shake it steadily.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Use the left arm to hold the blue bottle and shake it.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Hold the cylindrical bottle and shake it properly.", + "Grab the white and blue bottle firmly, shake it, and put it down.", + "Lift the blue bottle with the left arm and shake it.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Use the left arm to grab the white and blue bottle and shake properly.", + "Hold the blue bottle with label steady, then shake it.", + "With the left arm, pick the blue bottle with label and shake properly.", + "Shake the white and blue bottle using the left arm after grabbing.", + "Shake the white and blue bottle after holding it firmly.", + "Grab and shake the blue bottle with label using the left arm.", + "Hold and shake the the bottle for liquids carefully.", + "Grip the white and blue bottle using the left arm and shake.", + "Catch the handheld bottle and shake it instantly.", + "Pick up the smooth plastic bottle and shake it well.", + "Use the left arm to lift and shake the bottle for liquids.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the left arm to grab the bottle with blue cap and shake it.", + "Shake the bottle for liquids after grabbing it.", + "Shake the handheld bottle after grabbing it.", + "Lift up the white bottle with blue accents using the left arm, then shake.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Using the left arm, shake the blue bottle and then place it back.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the smooth plastic bottle and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Pick the cylindrical bottle up with the left arm and shake.", + "Lift the handheld bottle with the left arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Grab the blue bottle using the left arm, then shake.", + "Grab the blue bottle with label and move it to shake.", + "Shake the bottle for liquids firmly after grabbing.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Hold the smooth plastic bottle, shake it briefly.", + "Pick up the medium-sized bottle and shake it.", + "Pick the white and blue bottle, shake it with the left arm.", + "Use the left arm to lift and shake the handheld bottle.", + "Take the cylindrical bottle using the left arm and give it a shake.", + "Shake the bottle with blue cap after grabbing it.", + "Pick the blue bottle and perform shaking motion.", + "Shake the blue bottle with label after lifting it.", + "Shake the the handheld bottle properly after lifting.", + "Grab the white bottle with blue accents with the left arm and shake.", + "Grasp the blue bottle with the left arm and shake it.", + "Secure the medium bottle for beverages and perform a shake.", + "Grab the blue bottle and shake it steadily.", + "Use the left arm to pick and shake the medium bottle for beverages.", + "Use the left arm to hold the handheld bottle and shake it.", + "Utilize the left arm to hold the bottle for liquids and shake it.", + "Hold the white bottle with blue accents and shake it properly.", + "Grab the bottle with blue cap firmly, shake it, and put it down.", + "Lift the blue bottle with label with the left arm and shake it.", + "Lift the blue bottle with the left arm and give it a shake.", + "Use the left arm to grab the cylindrical bottle and shake properly.", + "Hold the handheld bottle steady, then shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the blue bottle with label using the left arm after grabbing.", + "Shake the medium bottle for beverages after holding it firmly.", + "Grab and shake the medium bottle for beverages using the left arm.", + "Hold and shake the the blue bottle with label carefully." + ], + "unseen": [ + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode452.json b/shake_bottle/ur5_randomized_500/instructions/episode452.json new file mode 100644 index 0000000000000000000000000000000000000000..9a4ce4f559eb7629f057b9a639efab56f4ab8771 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode452.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the rounded bottle with printed details using the left arm.", + "Hold the medium plastic bottle and shake it properly.", + "Use the left arm to lift and shake the plastic bottle with printed label.", + "Use the left arm to hold the bottle with dark brown color and shake it.", + "Use the left arm to pick and shake the smooth brown bottle.", + "Shake the plastic bottle with printed label after holding it firmly.", + "Pick the plastic bottle with printed label, shake it with the left arm.", + "Take the rounded bottle with printed details using the left arm and give it a shake.", + "Hold the rounded bottle with printed details with the left arm and shake lightly.", + "Grab the bottle with brown body and white top carefully and shake.", + "Shake the smooth brown bottle using the left arm after grabbing.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "With the left arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Hold the smooth brown bottle steady, then shake it.", + "Hold and shake the the cylindrical bottle with narrow neck carefully.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Pick up the bottle with brown body and white top and shake it well.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Lift the plastic bottle with printed label and shake it thoroughly.", + "Lift up the bottle with white cap using the left arm, then shake.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Shake the the handheld brown bottle with white lid properly after lifting.", + "Grab the smooth brown bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Use the left arm to grab the handheld brown bottle with white lid and shake properly.", + "Utilize the left arm to hold the cylindrical bottle with narrow neck and shake it.", + "Shake the plastic bottle for liquids firmly after grabbing.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Use the left arm to grab the bottle with white cap and shake it.", + "Secure the smooth brown bottle, shake it, and place it down.", + "Lift the bottle with white cap with the left arm and shake it.", + "Grab the smooth brown bottle firmly, shake it, and put it down.", + "Lift the bottle with dark brown color with the left arm and give it a shake.", + "Pick the smooth brown bottle up using the left arm and shake it.", + "Secure the handheld brown bottle with white lid and perform a shake.", + "Pick the cylindrical bottle with narrow neck up with the left arm and shake.", + "Grasp the plastic bottle for liquids with the left arm and shake it.", + "Grab the plastic bottle with printed label and move it to shake.", + "Shake the medium plastic bottle after grabbing it.", + "Using the left arm, shake the medium plastic bottle and then place it back.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Grab the handheld brown bottle with white lid with the left arm and shake.", + "Grab the smooth brown bottle and give it a shake.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Pick the bottle with brown body and white top and perform shaking motion.", + "Catch the medium bottle with smooth texture and shake it instantly.", + "Lift the plastic bottle with printed label and shake it gently.", + "Pick up the smooth brown bottle and shake it.", + "Lift the white-capped brown cylindrical bottle with the left arm and shake.", + "Grab and shake the white-capped brown cylindrical bottle using the left arm.", + "Hold the rounded bottle with printed details and shake it properly.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Use the left arm to hold the medium plastic bottle and shake it.", + "Use the left arm to pick and shake the handheld brown bottle with white lid.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Pick the bottle with white cap, shake it with the left arm.", + "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.", + "Hold the white-capped brown cylindrical bottle with the left arm and shake lightly.", + "Grab the cylindrical bottle with narrow neck carefully and shake.", + "Shake the medium bottle with smooth texture using the left arm after grabbing.", + "Grip the bottle with dark brown color using the left arm and shake.", + "With the left arm, pick the smooth brown bottle and shake properly.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Pick up the rounded bottle with printed details and shake it well.", + "Shake the plastic bottle with printed label thoroughly after grabbing it.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Lift up the bottle with brown body and white top using the left arm, then shake.", + "Grab the plastic bottle with printed label and shake it steadily.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Grab the plastic bottle with printed label using the left arm, then shake.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Use the left arm to grab the plastic bottle with printed label and shake properly.", + "Utilize the left arm to hold the medium bottle with smooth texture and shake it.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Shake the plastic bottle with printed label after grabbing it.", + "Shake the plastic bottle with printed label after lifting it.", + "Use the left arm to grab the medium bottle with smooth texture and shake it.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Lift the handheld brown bottle with white lid with the left arm and shake it.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Lift the rounded bottle with printed details with the left arm and give it a shake.", + "Pick the rounded bottle with printed details up using the left arm and shake it.", + "Secure the cylindrical bottle with narrow neck and perform a shake.", + "Pick the medium bottle with smooth texture up with the left arm and shake.", + "Grasp the handheld brown bottle with white lid with the left arm and shake it.", + "Grab the cylindrical bottle with narrow neck and move it to shake.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Using the left arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Hold the plastic bottle with printed label, shake it briefly.", + "Grab the medium bottle with smooth texture with the left arm and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the medium plastic bottle after grabbing it.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Pick up the medium plastic bottle and shake it.", + "Lift the smooth brown bottle with the left arm and shake." + ], + "unseen": [ + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode453.json b/shake_bottle/ur5_randomized_500/instructions/episode453.json new file mode 100644 index 0000000000000000000000000000000000000000..83940d18c874646f1eac5818745a62022bcd5493 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode453.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the yellow bottle with cylindrical cap using the left arm.", + "Use the left arm to grab the rectangular bottle and shake it.", + "Hold and shake the the yellow bottle with flower design carefully.", + "Use the left arm to grab the rectangular bottle and shake properly.", + "Take the yellow bottle using the left arm and give it a shake.", + "Lift the yellow bottle with green label with the left arm and shake.", + "Pick the yellow bottle with cylindrical cap up using the left arm and shake it.", + "Use the left arm to pick and shake the yellow bottle with flower design.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Grab the yellow bottle carefully and shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Shake the the plastic bottle properly after lifting.", + "Hold the yellow bottle with flower design steady, then shake it.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Lift the yellow bottle with cylindrical cap with the left arm and give it a shake.", + "Utilize the left arm to hold the rectangular bottle and shake it.", + "Shake the yellow bottle after grabbing it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Pick the yellow body bottle up with the left arm and shake.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Pick up the yellow bottle with flower design and shake it.", + "Shake the yellow bottle firmly after grabbing.", + "Grab the yellow bottle with green label and move it to shake.", + "Grab the smooth yellow plastic bottle and shake it steadily.", + "Lift the plastic bottle and shake it gently.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift up the bottle with green and white label using the left arm, then shake.", + "Use the left arm to hold the yellow body bottle and shake it.", + "Pick the yellow bottle with flower design, shake it with the left arm.", + "Shake the plastic bottle after grabbing it.", + "Lift the yellow bottle with green label and shake it thoroughly.", + "Hold the bottle for liquids and shake it properly.", + "Grab the handheld bottle with the left arm and shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Use the left arm to lift and shake the handheld bottle.", + "Pick the yellow bottle with cylindrical cap and perform shaking motion.", + "Catch the yellow bottle and shake it instantly.", + "Shake the yellow bottle with flower design after grabbing it.", + "Hold the bottle with white cap, shake it briefly.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Pick up the yellow body bottle and shake it well.", + "Hold the handheld bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the yellow bottle with flower design.", + "Shake the rectangular bottle after holding it firmly.", + "Grip the handheld bottle using the left arm and shake.", + "Grab the yellow body bottle and give it a shake.", + "Shake the yellow body bottle after lifting it.", + "Secure the handheld bottle, shake it, and place it down.", + "With the left arm, pick the yellow bottle and shake properly.", + "Secure the handheld bottle and perform a shake.", + "Grab and shake the bottle with green and white label using the left arm.", + "Use the left arm to grab the smooth yellow plastic bottle and shake it.", + "Hold and shake the the rectangular bottle carefully.", + "Use the left arm to grab the yellow body bottle and shake properly.", + "Take the rectangular bottle using the left arm and give it a shake.", + "Lift the bottle with white cap with the left arm and shake.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Use the left arm to pick and shake the yellow bottle with cylindrical cap.", + "Using the left arm, shake the yellow body bottle and then place it back.", + "Grab the bottle with white cap carefully and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the the yellow bottle with green label properly after lifting.", + "Hold the yellow bottle with flower design steady, then shake it.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the bottle with green and white label and shake it.", + "Shake the yellow bottle with green label after grabbing it.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Pick the yellow bottle with green label up with the left arm and shake.", + "Grasp the handheld bottle with the left arm and shake it.", + "Pick up the yellow body bottle and shake it.", + "Shake the yellow bottle with flower design firmly after grabbing.", + "Grab the yellow body bottle and move it to shake.", + "Grab the smooth yellow plastic bottle and shake it steadily.", + "Lift the bottle for liquids and shake it gently.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift up the yellow bottle with cylindrical cap using the left arm, then shake.", + "Use the left arm to hold the bottle with green and white label and shake it.", + "Pick the bottle for liquids, shake it with the left arm.", + "Shake the yellow bottle after grabbing it.", + "Lift the smooth yellow plastic bottle and shake it thoroughly.", + "Hold the yellow body bottle and shake it properly.", + "Grab the yellow bottle with flower design with the left arm and shake.", + "Lift the bottle with green and white label with the left arm and shake it.", + "Use the left arm to lift and shake the yellow bottle with flower design.", + "Pick the yellow bottle and perform shaking motion.", + "Catch the bottle with white cap and shake it instantly.", + "Shake the bottle with green and white label after grabbing it.", + "Hold the yellow bottle, shake it briefly.", + "Shake the handheld bottle using the left arm after grabbing.", + "Pick up the plastic bottle and shake it well.", + "Hold the yellow bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the yellow bottle with flower design after holding it firmly.", + "Grip the rectangular bottle using the left arm and shake.", + "Grab the rectangular bottle and give it a shake.", + "Shake the yellow bottle after lifting it.", + "Secure the bottle with green and white label, shake it, and place it down.", + "With the left arm, pick the yellow bottle with green label and shake properly.", + "Secure the bottle with white cap and perform a shake." + ], + "unseen": [ + "Use the left arm to grab the bottle with printed label and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Grab the bottle with printed label and give it a shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with printed label with the left arm.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to grab the medium bottle and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Grab the bottle with printed label and shake it.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Shake the medium bottle after picking it with the left arm.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Use the left arm to pick the medium bottle.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Shake the medium bottle after picking it with the left arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Use the left arm to pick the medium bottle.", + "Pick up the bottle with printed label with the left arm and shake.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to grab the medium bottle and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the medium bottle with the left arm and shake.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to grab the medium bottle and shake.", + "Shake the medium bottle after picking it with the left arm.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the left arm.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with printed label with the left arm and shake.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to grab the bottle with printed label and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the medium bottle, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with printed label with the left arm.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Grab the bottle with printed label and give it a shake.", + "Use the left arm to grab the medium bottle and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the medium bottle and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Use the left arm to pick the medium bottle.", + "Pick up the medium bottle with the left arm and shake.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to grab the medium bottle and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with printed label with the left arm.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the bottle with printed label with the left arm and shake.", + "Grab the bottle with printed label and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode454.json b/shake_bottle/ur5_randomized_500/instructions/episode454.json new file mode 100644 index 0000000000000000000000000000000000000000..21c50724595bd89c49720ce1058cad4a0f4b0185 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode454.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with white cap firmly after grabbing.", + "Catch the plastic bottle and shake it instantly.", + "Shake the yellow bottle with flower design thoroughly after grabbing it.", + "Grab the bottle with green and white label and give it a shake.", + "Shake the the handheld bottle properly after lifting.", + "Take the yellow bottle with flower design using the left arm and give it a shake.", + "Shake the bottle for liquids after grabbing it.", + "Hold the yellow body bottle steady, then shake it.", + "Pick the bottle with green and white label, shake it with the left arm.", + "Pick the yellow bottle with cylindrical cap up using the left arm and shake it.", + "Lift the smooth yellow plastic bottle and shake it gently.", + "With the left arm, pick the yellow bottle and shake properly.", + "Lift the rectangular bottle with the left arm and give it a shake.", + "Grip the bottle with white cap using the left arm and shake.", + "Shake the bottle for liquids after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Grasp the yellow bottle with flower design with the left arm and shake it.", + "Secure the yellow body bottle, shake it, and place it down.", + "Hold the rectangular bottle, shake it briefly.", + "Use the left arm to lift and shake the rectangular bottle.", + "Pick the smooth yellow plastic bottle up with the left arm and shake.", + "Use the left arm to grab the yellow bottle with green label and shake it.", + "Use the left arm to pick and shake the yellow body bottle.", + "Use the left arm to grab the yellow bottle and shake properly.", + "Lift the bottle for liquids with the left arm and shake.", + "Lift the rectangular bottle with the left arm and shake it.", + "Grab the bottle for liquids using the left arm, then shake.", + "Grab and shake the yellow bottle with green label using the left arm.", + "Grab the yellow bottle with green label and shake it steadily.", + "Grab the rectangular bottle carefully and shake.", + "Hold the yellow body bottle with the left arm and shake lightly.", + "Grab the yellow bottle with green label firmly, shake it, and put it down.", + "Pick up the handheld bottle and shake it well.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Hold the yellow bottle with cylindrical cap and shake it properly.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Use the left arm to lift and shake the smooth yellow plastic bottle.", + "Shake the bottle with white cap after grabbing it.", + "Lift the yellow bottle with green label and shake it thoroughly.", + "Shake the plastic bottle after holding it firmly.", + "Grab the bottle with white cap with the left arm and shake.", + "Pick the bottle for liquids and perform shaking motion.", + "Pick up the bottle for liquids and shake it.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Lift up the yellow bottle with flower design using the left arm, then shake.", + "Secure the yellow bottle with flower design and perform a shake.", + "Shake the yellow body bottle using the left arm after grabbing.", + "Shake the yellow body bottle after lifting it.", + "Hold and shake the the yellow bottle with cylindrical cap carefully.", + "Use the left arm to lift and shake the rectangular bottle.", + "Shake the yellow body bottle firmly after grabbing.", + "Catch the yellow bottle with cylindrical cap and shake it instantly.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Grab the yellow bottle and give it a shake.", + "Shake the the yellow body bottle properly after lifting.", + "Take the handheld bottle using the left arm and give it a shake.", + "Shake the yellow bottle with cylindrical cap after grabbing it.", + "Hold the yellow bottle with green label steady, then shake it.", + "Pick the handheld bottle, shake it with the left arm.", + "Pick the yellow bottle with flower design up using the left arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "With the left arm, pick the yellow bottle and shake properly.", + "Lift the bottle with green and white label with the left arm and give it a shake.", + "Grip the plastic bottle using the left arm and shake.", + "Shake the yellow body bottle after grabbing it.", + "Grab the smooth yellow plastic bottle and move it to shake.", + "Grasp the plastic bottle with the left arm and shake it.", + "Secure the smooth yellow plastic bottle, shake it, and place it down.", + "Hold the smooth yellow plastic bottle, shake it briefly.", + "Use the left arm to lift and shake the yellow bottle with flower design.", + "Pick the bottle with green and white label up with the left arm and shake.", + "Use the left arm to grab the handheld bottle and shake it.", + "Use the left arm to pick and shake the bottle for liquids.", + "Use the left arm to grab the yellow bottle with flower design and shake properly.", + "Lift the yellow bottle with flower design with the left arm and shake.", + "Lift the handheld bottle with the left arm and shake it.", + "Grab the rectangular bottle using the left arm, then shake.", + "Grab and shake the yellow bottle using the left arm.", + "Grab the yellow bottle and shake it steadily.", + "Grab the bottle for liquids carefully and shake.", + "Hold the bottle with white cap with the left arm and shake lightly.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Pick up the bottle with green and white label and shake it well.", + "Utilize the left arm to hold the bottle for liquids and shake it.", + "Hold the bottle with white cap and shake it properly.", + "Use the left arm to hold the yellow bottle with flower design and shake it.", + "Use the left arm to lift and shake the rectangular bottle.", + "Shake the yellow bottle with flower design after grabbing it.", + "Lift the bottle with green and white label and shake it thoroughly.", + "Shake the yellow bottle with flower design after holding it firmly.", + "Grab the yellow bottle with green label with the left arm and shake.", + "Pick the plastic bottle and perform shaking motion.", + "Pick up the yellow bottle with cylindrical cap and shake it.", + "Using the left arm, shake the yellow bottle with cylindrical cap and then place it back.", + "Lift up the smooth yellow plastic bottle using the left arm, then shake.", + "Secure the yellow bottle with cylindrical cap and perform a shake.", + "Shake the smooth yellow plastic bottle using the left arm after grabbing.", + "Shake the plastic bottle after lifting it.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to lift and shake the yellow bottle." + ], + "unseen": [ + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and shake it.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the medium bottle with the left arm and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Use the left arm to grab the medium bottle and shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Grab the bottle with printed label and give it a shake.", + "Use the left arm to pick the medium bottle.", + "Pick up the medium bottle with the left arm and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and shake it.", + "Use the left arm to grab the bottle with printed label and shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with printed label with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to pick the medium bottle.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with printed label and shake it.", + "Use the left arm to grab the medium bottle and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and shake it.", + "Use the left arm to grab the medium bottle and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the bottle with printed label with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the bottle with rounded edges and shake it.", + "Use the left arm to grab the bottle with printed label and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the medium bottle after picking it with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with rounded edges with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and shake it.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with printed label and give it a shake.", + "Use the left arm to pick the bottle with rounded edges.", + "Pick up the medium bottle with the left arm and shake.", + "Shake the bottle with printed label after picking it with the left arm.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the medium bottle with the left arm.", + "Pick up the bottle with printed label and shake it.", + "Grab the medium bottle and shake it.", + "Use the left arm to grab the bottle with rounded edges and shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with rounded edges and give it a shake.", + "Use the left arm to pick the medium bottle.", + "Pick up the medium bottle with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with printed label with the left arm.", + "Pick up the medium bottle and shake it.", + "Grab the medium bottle and shake it.", + "Use the left arm to grab the medium bottle and shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the medium bottle and give it a shake.", + "Use the left arm to pick the bottle with printed label.", + "Pick up the bottle with rounded edges with the left arm and shake.", + "Shake the bottle with rounded edges after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode455.json b/shake_bottle/ur5_randomized_500/instructions/episode455.json new file mode 100644 index 0000000000000000000000000000000000000000..e66376b623d765305e00e7695bc8d299cb95f413 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode455.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the handheld bottle properly after lifting.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Use the left arm to hold the handheld bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Hold the cylindrical bottle, shake it briefly.", + "Pick the blue bottle with label up using the left arm and shake it.", + "Grab the blue bottle with label carefully and shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Grab the blue bottle with label and move it to shake.", + "Shake the white bottle with blue accents thoroughly after grabbing it.", + "Lift the cylindrical bottle with the left arm and shake.", + "Secure the blue bottle with label, shake it, and place it down.", + "Pick the blue bottle with label and perform shaking motion.", + "With the left arm, pick the blue bottle and shake properly.", + "Hold and shake the the medium bottle for beverages carefully.", + "Shake the cylindrical bottle after lifting it.", + "Grab the medium-sized bottle with the left arm and shake.", + "Lift up the medium bottle for beverages using the left arm, then shake.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Grasp the blue bottle with label with the left arm and shake it.", + "Grab the cylindrical bottle using the left arm, then shake.", + "Grip the bottle for liquids using the left arm and shake.", + "Use the left arm to pick and shake the bottle for liquids.", + "Lift the blue bottle with label and shake it gently.", + "Use the left arm to grab the white bottle with blue accents and shake it.", + "Pick up the medium bottle for beverages and shake it well.", + "Use the left arm to lift and shake the blue bottle with label.", + "Grab and shake the white and blue bottle using the left arm.", + "Using the left arm, shake the cylindrical bottle and then place it back.", + "Lift the blue bottle with the left arm and shake it.", + "Lift the handheld bottle with the left arm and give it a shake.", + "Hold the smooth plastic bottle steady, then shake it.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Grab the white and blue bottle and give it a shake.", + "Grab the blue bottle with label firmly, shake it, and put it down.", + "Shake the plastic bottle after grabbing it.", + "Shake the handheld bottle after holding it firmly.", + "Pick the cylindrical bottle, shake it with the left arm.", + "Pick up the bottle for liquids and shake it.", + "Shake the white bottle with blue accents after grabbing it.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Secure the white bottle with blue accents and perform a shake.", + "Shake the white and blue bottle firmly after grabbing.", + "Grab the medium bottle for beverages and shake it steadily.", + "Use the left arm to grab the cylindrical bottle and shake properly.", + "Catch the plastic bottle and shake it instantly.", + "Hold the handheld bottle and shake it properly.", + "Utilize the left arm to hold the handheld bottle and shake it.", + "Lift the bottle with blue cap and shake it thoroughly.", + "Hold the white bottle with blue accents with the left arm and shake lightly.", + "Shake the the blue bottle with label properly after lifting.", + "Pick the bottle with blue cap up with the left arm and shake.", + "Use the left arm to hold the blue bottle and shake it.", + "Shake the cylindrical bottle after grabbing it.", + "Hold the handheld bottle, shake it briefly.", + "Pick the white and blue bottle up using the left arm and shake it.", + "Grab the medium-sized bottle carefully and shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Grab the bottle with blue cap and move it to shake.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Lift the cylindrical bottle with the left arm and shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick the smooth plastic bottle and perform shaking motion.", + "With the left arm, pick the plastic bottle and shake properly.", + "Hold and shake the the medium-sized bottle carefully.", + "Shake the blue bottle after lifting it.", + "Grab the blue bottle with label with the left arm and shake.", + "Lift up the white bottle with blue accents using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grasp the medium bottle for beverages with the left arm and shake it.", + "Grab the white bottle with blue accents using the left arm, then shake.", + "Grip the cylindrical bottle using the left arm and shake.", + "Use the left arm to pick and shake the white bottle with blue accents.", + "Lift the blue bottle and shake it gently.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Pick up the plastic bottle and shake it well.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Grab and shake the blue bottle using the left arm.", + "Using the left arm, shake the medium-sized bottle and then place it back.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Lift the medium bottle for beverages with the left arm and give it a shake.", + "Hold the bottle with blue cap steady, then shake it.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Grab the plastic bottle and give it a shake.", + "Grab the medium bottle for beverages firmly, shake it, and put it down.", + "Shake the blue bottle after grabbing it.", + "Shake the bottle for liquids after holding it firmly.", + "Pick the blue bottle with label, shake it with the left arm.", + "Pick up the plastic bottle and shake it.", + "Shake the medium bottle for beverages after grabbing it.", + "Take the blue bottle using the left arm and give it a shake.", + "Secure the blue bottle with label and perform a shake.", + "Shake the blue bottle firmly after grabbing.", + "Grab the blue bottle with label and shake it steadily.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Catch the bottle for liquids and shake it instantly.", + "Hold the bottle for liquids and shake it properly.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "Lift the medium bottle for beverages and shake it thoroughly.", + "Hold the handheld bottle with the left arm and shake lightly." + ], + "unseen": [ + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged neck.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Use the left arm to pick the bottle with curved neck design.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode456.json b/shake_bottle/ur5_randomized_500/instructions/episode456.json new file mode 100644 index 0000000000000000000000000000000000000000..34c2c345d93ebcc978bdad5ee8fc5bcfc78fb169 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode456.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow-capped plastic bottle using the right arm, then shake.", + "Lift the yellow-capped plastic bottle and shake it gently.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Grab the cylindrical orange bottle with yellow top and shake it steadily.", + "Shake the orange cylindrical bottle after grabbing it.", + "Shake the yellow-capped plastic bottle after holding it firmly.", + "Shake the orange bottle using the right arm after grabbing.", + "Lift the medium-sized orange bottle with the right arm and shake it.", + "Using the right arm, shake the medium-sized orange bottle and then place it back.", + "Shake the the bottle with narrow neck properly after lifting.", + "Lift the yellow-capped plastic bottle with the right arm and shake.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Hold the bottle for liquids steady, then shake it.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the smooth plastic bottle after grabbing it.", + "Pick the bottle for liquids and perform shaking motion.", + "Hold the bottle with narrow neck, shake it briefly.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Lift the bottle with printed label with the right arm and give it a shake.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Use the right arm to grab the plastic bottle and shake it.", + "Hold the plastic bottle with sealed yellow cap and shake it properly.", + "Pick the bottle with narrow neck up with the right arm and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Take the orange cylindrical bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the orange bottle.", + "Grab the bottle for liquids with the right arm and shake.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Hold the orange cylindrical bottle with the right arm and shake lightly.", + "Pick up the cylindrical orange bottle with yellow top and shake it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "With the right arm, pick the orange bottle and shake properly.", + "Use the right arm to hold the orange cylindrical bottle and shake it.", + "Hold and shake the the bottle for liquids carefully.", + "Grasp the orange cylindrical bottle with the right arm and shake it.", + "Pick up the cylindrical orange bottle with yellow top and shake it well.", + "Pick the bottle for liquids up using the right arm and shake it.", + "Grip the bottle with narrow neck using the right arm and shake.", + "Grab the bottle with narrow neck carefully and shake.", + "Secure the bottle with printed label and perform a shake.", + "Grab the orange bottle and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Grab the bottle with printed label and move it to shake.", + "Secure the bottle with printed label, shake it, and place it down.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Pick the medium-sized orange bottle, shake it with the right arm.", + "Grab the bottle with printed label using the right arm, then shake.", + "Lift the cylindrical orange bottle with yellow top and shake it gently.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the bottle with printed label thoroughly after grabbing it.", + "Grab the bottle with yellow cap and shake it steadily.", + "Shake the bottle with narrow neck after grabbing it.", + "Shake the smooth plastic bottle after holding it firmly.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Lift the yellow-capped plastic bottle with the right arm and shake it.", + "Using the right arm, shake the orange bottle and then place it back.", + "Shake the the smooth plastic bottle properly after lifting.", + "Lift the bottle with printed label with the right arm and shake.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Utilize the right arm to hold the bottle for liquids and shake it.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Shake the medium-sized orange bottle after grabbing it.", + "Shake the orange bottle after grabbing it.", + "Pick the bottle for liquids and perform shaking motion.", + "Hold the smooth plastic bottle, shake it briefly.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with narrow neck.", + "Use the right arm to grab the yellow-capped plastic bottle and shake it.", + "Hold the orange cylindrical bottle and shake it properly.", + "Pick the medium-sized orange bottle up with the right arm and shake.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Use the right arm to grab the cylindrical orange bottle with yellow top and shake properly.", + "Take the bottle with printed label using the right arm and give it a shake.", + "Use the right arm to pick and shake the yellow-capped plastic bottle.", + "Grab the plastic bottle with sealed yellow cap with the right arm and shake.", + "Use the right arm to lift and shake the orange bottle.", + "Hold the bottle with printed label with the right arm and shake lightly.", + "Pick up the plastic bottle with sealed yellow cap and shake it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Use the right arm to hold the medium-sized orange bottle and shake it.", + "Hold and shake the the orange bottle carefully.", + "Grasp the orange bottle with the right arm and shake it.", + "Pick up the bottle for liquids and shake it well.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Grab the bottle with narrow neck carefully and shake.", + "Secure the yellow-capped plastic bottle and perform a shake.", + "Grab the plastic bottle with sealed yellow cap and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Grab the plastic bottle and move it to shake.", + "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.", + "Lift the bottle with printed label and shake it thoroughly.", + "Grab and shake the plastic bottle with sealed yellow cap using the right arm.", + "Pick the bottle for liquids, shake it with the right arm." + ], + "unseen": [ + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Grab the label-covered orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode457.json b/shake_bottle/ur5_randomized_500/instructions/episode457.json new file mode 100644 index 0000000000000000000000000000000000000000..a09060b6b23f60ab2f530d38313353cbb35d37e5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode457.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with blue and yellow print firmly after grabbing.", + "Catch the drink bottle with rounded yellow lid and shake it instantly.", + "Hold the plastic bottle with colorful label and shake it properly.", + "Pick the black bottle up with the right arm and shake.", + "Grab the black bottle carefully and shake.", + "Using the right arm, shake the bottle with blue and yellow print and then place it back.", + "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.", + "Take the medium black bottle with printed label using the right arm and give it a shake.", + "Use the right arm to grab the drink bottle with rounded yellow lid and shake properly.", + "Shake the black cylindrical bottle with ridges after holding it firmly.", + "Shake the beverage bottle with black body after lifting it.", + "Utilize the right arm to hold the beverage bottle with black body and shake it.", + "Pick up the plastic bottle with colorful label and shake it.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "With the right arm, pick the beverage bottle with black body and shake properly.", + "Use the right arm to hold the yellow-capped cylindrical bottle and shake it.", + "Grab the plastic bottle with colorful label using the right arm, then shake.", + "Grab the beverage bottle with black body and move it to shake.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Grab the medium black bottle with printed label with the right arm and shake.", + "Shake the medium bottle with yellow cap thoroughly after grabbing it.", + "Hold the bottle with blue and yellow print steady, then shake it.", + "Pick the black bottle, shake it with the right arm.", + "Use the right arm to pick and shake the plastic bottle with colorful label.", + "Grip the black cylindrical bottle with ridges using the right arm and shake.", + "Grab the yellow capped drink bottle firmly, shake it, and put it down.", + "Pick the medium black bottle with printed label and perform shaking motion.", + "Lift the drink bottle with rounded yellow lid and shake it thoroughly.", + "Hold the medium black bottle with printed label, shake it briefly.", + "Lift the medium bottle with yellow cap with the right arm and shake.", + "Use the right arm to lift and shake the yellow capped drink bottle.", + "Grasp the black bottle with the right arm and shake it.", + "Lift the medium black bottle with printed label with the right arm and shake it.", + "Use the right arm to grab the yellow-capped cylindrical bottle and shake it.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Shake the yellow capped drink bottle after grabbing it.", + "Pick up the beverage bottle with black body and shake it well.", + "Shake the the medium bottle with yellow cap properly after lifting.", + "Lift up the drink bottle with rounded yellow lid using the right arm, then shake.", + "Lift the black plastic bottle with Pepsi logo with the right arm and give it a shake.", + "Use the right arm to lift and shake the black bottle.", + "Secure the medium bottle with yellow cap, shake it, and place it down.", + "Shake the black bottle using the right arm after grabbing.", + "Grab the black bottle and shake it steadily.", + "Pick the yellow capped drink bottle up using the right arm and shake it.", + "Secure the beverage bottle with black body and perform a shake.", + "Grab and shake the black cylindrical bottle with ridges using the right arm.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Lift the bottle with blue and yellow print and shake it gently.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Catch the beverage bottle with black body and shake it instantly.", + "Hold the beverage bottle with black body and shake it properly.", + "Pick the yellow-capped cylindrical bottle up with the right arm and shake.", + "Grab the medium bottle with yellow cap carefully and shake.", + "Using the right arm, shake the drink bottle with rounded yellow lid and then place it back.", + "Hold the beverage bottle with black body with the right arm and shake lightly.", + "Take the beverage bottle with black body using the right arm and give it a shake.", + "Use the right arm to grab the plastic bottle with colorful label and shake properly.", + "Shake the smooth black bottle with ridges after holding it firmly.", + "Shake the drink bottle with rounded yellow lid after lifting it.", + "Utilize the right arm to hold the beverage bottle with black body and shake it.", + "Pick up the medium black bottle with printed label and shake it.", + "Shake the beverage bottle with black body after grabbing it.", + "With the right arm, pick the plastic bottle with colorful label and shake properly.", + "Use the right arm to hold the smooth black bottle with ridges and shake it.", + "Grab the medium black bottle with printed label using the right arm, then shake.", + "Grab the black bottle and move it to shake.", + "Hold and shake the the black plastic bottle with Pepsi logo carefully.", + "Grab the black bottle with the right arm and shake.", + "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.", + "Hold the black cylindrical bottle with ridges steady, then shake it.", + "Pick the drink bottle with rounded yellow lid, shake it with the right arm.", + "Use the right arm to pick and shake the black cylindrical bottle with ridges.", + "Grip the black cylindrical bottle with ridges using the right arm and shake.", + "Grab the black bottle firmly, shake it, and put it down.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Hold the black cylindrical bottle with ridges, shake it briefly.", + "Lift the drink bottle with rounded yellow lid with the right arm and shake.", + "Use the right arm to lift and shake the bottle with blue and yellow print.", + "Grasp the medium bottle with yellow cap with the right arm and shake it.", + "Lift the smooth black bottle with ridges with the right arm and shake it.", + "Use the right arm to grab the black cylindrical bottle with ridges and shake it.", + "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.", + "Shake the beverage bottle with black body after grabbing it.", + "Pick up the beverage bottle with black body and shake it well.", + "Shake the the black cylindrical bottle with ridges properly after lifting.", + "Lift up the medium bottle with yellow cap using the right arm, then shake.", + "Lift the smooth black bottle with ridges with the right arm and give it a shake.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Secure the bottle with blue and yellow print, shake it, and place it down.", + "Shake the yellow capped drink bottle using the right arm after grabbing.", + "Grab the smooth black bottle with ridges and shake it steadily.", + "Pick the black cylindrical bottle with ridges up using the right arm and shake it.", + "Secure the yellow-capped cylindrical bottle and perform a shake.", + "Grab and shake the yellow capped drink bottle using the right arm.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Grab the bottle with blue and yellow print and give it a shake.", + "Lift the medium bottle with yellow cap and shake it gently." + ], + "unseen": [ + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode458.json b/shake_bottle/ur5_randomized_500/instructions/episode458.json new file mode 100644 index 0000000000000000000000000000000000000000..93adf62a76519204f69690f1a656bf31779247fa --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode458.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with rounded neck, shake it briefly.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Pick the handheld green bottle, shake it with the right arm.", + "Lift the smooth green bottle with the right arm and shake.", + "Shake the smooth green bottle using the right arm after grabbing.", + "Pick up the smooth green plastic bottle and shake it well.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Shake the smooth green bottle firmly after grabbing.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Hold the handheld green bottle and shake it properly.", + "Shake the plastic bottle after lifting it.", + "Hold the medium-sized green bottle with the right arm and shake lightly.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Grab the medium-sized green bottle carefully and shake.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Grab the medium green bottle using the right arm, then shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Use the right arm to lift and shake the medium green bottle.", + "Secure the bottle with rounded neck and perform a shake.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Grip the smooth green bottle using the right arm and shake.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Grab the bottle with white printed label and move it to shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Lift the smooth green bottle with the right arm and shake it.", + "Pick up the handheld green bottle and shake it.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Grab the handheld green bottle and shake it steadily.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the bottle with rounded neck and shake it gently.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Catch the bottle with ridges near base and shake it instantly.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Pick the handheld green bottle, shake it with the right arm.", + "Lift the green bottle with indented base with the right arm and shake.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Pick up the bottle with white printed label and shake it well.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Hold and shake the the medium-sized green bottle carefully.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the the medium-sized green bottle properly after lifting.", + "Shake the green bottle with indented base after holding it firmly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Grab the bottle with narrow top and give it a shake.", + "Use the right arm to hold the handheld green bottle and shake it.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Hold the bottle with narrow top and shake it properly.", + "Shake the medium green bottle after lifting it.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Grab the plastic bottle carefully and shake.", + "Use the right arm to grab the bottle with narrow top and shake it.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Shake the green bottle with indented base after grabbing it.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Secure the bottle with narrow top and perform a shake.", + "Grab the bottle with white printed label with the right arm and shake.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Grab the bottle with rounded neck and move it to shake.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Pick up the smooth green plastic bottle and shake it.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Grab the bottle with narrow top and shake it steadily.", + "Use the right arm to lift and shake the handheld green bottle.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the green bottle with indented base and shake it gently.", + "Shake the bottle with white printed label after grabbing it.", + "Catch the bottle with narrow top and shake it instantly.", + "Pick the plastic bottle and perform shaking motion.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Use the right arm to grab the medium green bottle and shake properly." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode459.json b/shake_bottle/ur5_randomized_500/instructions/episode459.json new file mode 100644 index 0000000000000000000000000000000000000000..52e351482a385d2556cb23d3414a1d11b58b00b2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode459.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the curved bottle with white top and shake it well.", + "Secure the bottle holding liquid, shake it, and place it down.", + "Use the right arm to pick and shake the hand-sized plastic bottle.", + "Shake the small bottle with decorative design after grabbing it.", + "Pick the small curved plastic bottle and perform shaking motion.", + "Shake the white-capped bottle after grabbing it.", + "Shake the the bottle with black label properly after lifting.", + "Shake the bottle with black label after grabbing it.", + "Lift the curved bottle with white top and shake it thoroughly.", + "Lift the smooth brown and white patterned bottle with the right arm and give it a shake.", + "Grab the bottle holding liquid and shake it steadily.", + "Lift the bottle with brown and white patterns with the right arm and shake.", + "Take the bottle with brown and white patterns using the right arm and give it a shake.", + "Hold the curved bottle with white top with the right arm and shake lightly.", + "Pick the hand-sized plastic bottle up with the right arm and shake.", + "Using the right arm, shake the hand-sized plastic bottle and then place it back.", + "Hold the bottle holding liquid and shake it properly.", + "Grab the small bottle with decorative design carefully and shake.", + "Use the right arm to lift and shake the bottle with black label.", + "Shake the plastic bottle thoroughly after grabbing it.", + "With the right arm, pick the brown bottle and shake properly.", + "Grab and shake the smooth brown and white patterned bottle using the right arm.", + "Hold the small bottle with decorative design steady, then shake it.", + "Catch the curved bottle with white top and shake it instantly.", + "Use the right arm to grab the bottle with brown and white patterns and shake properly.", + "Grasp the small bottle with decorative design with the right arm and shake it.", + "Use the right arm to grab the curved bottle with white top and shake it.", + "Shake the curved bottle with white top using the right arm after grabbing.", + "Shake the plastic bottle after holding it firmly.", + "Grab the bottle with black label using the right arm, then shake.", + "Use the right arm to lift and shake the small curved plastic bottle.", + "Pick the bottle with brown and white patterns, shake it with the right arm.", + "Shake the curved bottle with white top firmly after grabbing.", + "Lift the hand-sized plastic bottle and shake it gently.", + "Lift the white-capped bottle with the right arm and shake it.", + "Use the right arm to hold the brown bottle and shake it.", + "Grip the bottle with brown and white patterns using the right arm and shake.", + "Pick up the curved bottle with white top and shake it.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Grab the small curved plastic bottle and move it to shake.", + "Use the right arm to lift and shake the brown bottle.", + "Pick the bottle with white screw cap up using the right arm and shake it.", + "Grab the bottle holding liquid firmly, shake it, and put it down.", + "Shake the white-capped bottle after lifting it.", + "Secure the bottle holding liquid and perform a shake.", + "Hold the bottle with black label, shake it briefly.", + "Hold and shake the the small bottle with decorative design carefully.", + "Grab the curved bottle with white top and give it a shake.", + "Lift up the bottle with black label using the right arm, then shake.", + "Grab the bottle with brown and white patterns with the right arm and shake.", + "Pick up the bottle with black label and shake it well.", + "Secure the bottle with brown and white patterns, shake it, and place it down.", + "Use the right arm to pick and shake the bottle with brown and white patterns.", + "Shake the curved bottle with white top after grabbing it.", + "Pick the hand-sized plastic bottle and perform shaking motion.", + "Shake the small bottle with decorative design after grabbing it.", + "Shake the the smooth brown and white patterned bottle properly after lifting.", + "Shake the hand-sized plastic bottle after grabbing it.", + "Lift the small bottle with decorative design and shake it thoroughly.", + "Lift the curved bottle with white top with the right arm and give it a shake.", + "Grab the smooth brown and white patterned bottle and shake it steadily.", + "Lift the white-capped bottle with the right arm and shake.", + "Take the bottle with black label using the right arm and give it a shake.", + "Hold the small bottle with decorative design with the right arm and shake lightly.", + "Pick the curved bottle with white top up with the right arm and shake.", + "Using the right arm, shake the bottle holding liquid and then place it back.", + "Hold the bottle with white screw cap and shake it properly.", + "Grab the small bottle with decorative design carefully and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the curved bottle with white top thoroughly after grabbing it.", + "With the right arm, pick the small bottle with decorative design and shake properly.", + "Grab and shake the small curved plastic bottle using the right arm.", + "Hold the small curved plastic bottle steady, then shake it.", + "Catch the plastic bottle and shake it instantly.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grasp the bottle holding liquid with the right arm and shake it.", + "Use the right arm to grab the smooth brown and white patterned bottle and shake it.", + "Shake the small curved plastic bottle using the right arm after grabbing.", + "Shake the white-capped bottle after holding it firmly.", + "Grab the small bottle with decorative design using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the bottle holding liquid, shake it with the right arm.", + "Shake the small bottle with decorative design firmly after grabbing.", + "Lift the smooth brown and white patterned bottle and shake it gently.", + "Lift the hand-sized plastic bottle with the right arm and shake it.", + "Use the right arm to hold the bottle with black label and shake it.", + "Grip the white-capped bottle using the right arm and shake.", + "Pick up the curved bottle with white top and shake it.", + "Utilize the right arm to hold the bottle with black label and shake it.", + "Grab the small curved plastic bottle and move it to shake.", + "Use the right arm to lift and shake the hand-sized plastic bottle.", + "Pick the bottle with black label up using the right arm and shake it.", + "Grab the bottle with brown and white patterns firmly, shake it, and put it down.", + "Shake the bottle with white screw cap after lifting it.", + "Secure the small bottle with decorative design and perform a shake.", + "Hold the small bottle with decorative design, shake it briefly.", + "Hold and shake the the brown bottle carefully.", + "Grab the bottle holding liquid and give it a shake.", + "Lift up the brown bottle using the right arm, then shake.", + "Grab the brown bottle with the right arm and shake." + ], + "unseen": [ + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Grab the glossy brown bottle and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Grab the glossy brown bottle and shake it.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Grab the glossy brown bottle and shake it.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the brown bottle with glossy swirls with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode46.json b/shake_bottle/ur5_randomized_500/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..e21ad3a701c8f4c2e7324eedb179450bc3787e96 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the red-capped bottle thoroughly after grabbing it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the long thin bottle using the left arm after grabbing.", + "Grab and shake the red-capped bottle using the left arm.", + "Lift the brown bottle with red label with the left arm and shake.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the red-capped bottle after lifting it.", + "Secure the medium dark brown bottle and perform a shake.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the medium dark brown bottle after holding it firmly.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Hold the narrow-necked bottle steady, then shake it.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Pick up the plastic drink bottle and shake it well.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Hold the Coca-Cola bottle and shake it properly.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Grab the brown bottle with red label and give it a shake.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Grab the Coca-Cola bottle carefully and shake.", + "Pick up the plastic drink bottle and shake it.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the bottle with white neck and red top and move it to shake.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Lift the hand-sized soda bottle and shake it gently.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Shake the dark drink bottle with logo after grabbing it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the narrow-necked bottle after lifting it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Grab the long thin bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Grip the red-capped bottle using the left arm and shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Catch the long thin bottle and shake it instantly.", + "Grab the plastic drink bottle and shake it steadily.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Hold the plastic drink bottle and shake it properly.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Grab the red-capped bottle and give it a shake.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Pick the brown bottle with red label and perform shaking motion.", + "Shake the long thin bottle after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it." + ], + "unseen": [ + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode460.json b/shake_bottle/ur5_randomized_500/instructions/episode460.json new file mode 100644 index 0000000000000000000000000000000000000000..32030c201ef62028cb3e5e714c9a5cbd144b25ea --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode460.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle for liquid and move it to shake.", + "Secure the bottle for liquid and perform a shake.", + "Grab the yellow bottle and give it a shake.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Lift the plastic bottle with curved sides and shake it thoroughly.", + "Grasp the bottle for liquid with the right arm and shake it.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Use the right arm to lift and shake the yellow bottle.", + "Lift the plastic bottle with curved sides with the right arm and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Grab the medium-sized bottle using the right arm, then shake.", + "Shake the plastic bottle with curved sides using the right arm after grabbing.", + "Shake the yellow bottle with blue label firmly after grabbing.", + "Shake the medium plastic bottle with cap thoroughly after grabbing it.", + "Shake the medium-sized bottle after lifting it.", + "Hold the bottle for liquid with the right arm and shake lightly.", + "Lift up the handheld curvy bottle using the right arm, then shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Hold and shake the the bottle with screw cap carefully.", + "Grab the plastic bottle with curved sides firmly, shake it, and put it down.", + "Pick up the plastic bottle with curved sides and shake it well.", + "Use the right arm to pick and shake the plastic bottle.", + "Shake the the plastic bottle with curved sides properly after lifting.", + "Grab the smooth plastic bottle and shake it steadily.", + "Take the yellow bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the bottle for liquid and shake it.", + "Using the right arm, shake the bottle for liquid and then place it back.", + "Catch the yellow bottle with blue label and shake it instantly.", + "Pick up the plastic bottle with curved sides and shake it.", + "Pick the yellow bottle with blue label, shake it with the right arm.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the right arm to lift and shake the yellow bottle.", + "Pick the medium plastic bottle with cap and perform shaking motion.", + "Hold the bottle for liquid and shake it properly.", + "Use the right arm to grab the bottle with screw cap and shake properly.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Hold the medium-sized bottle, shake it briefly.", + "Lift the yellow bottle and shake it gently.", + "Use the right arm to hold the bottle with screw cap and shake it.", + "Lift the yellow bottle with dark label with the right arm and shake.", + "Grip the yellow bottle with blue label using the right arm and shake.", + "Pick the bottle for liquid up using the right arm and shake it.", + "Grab and shake the yellow bottle with blue label using the right arm.", + "Use the right arm to lift and shake the yellow bottle for liquid storage.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after holding it firmly.", + "Hold the yellow bottle with dark label steady, then shake it.", + "Pick the bottle for liquid up with the right arm and shake.", + "Grab the yellow bottle with blue label with the right arm and shake.", + "Grab the yellow bottle and move it to shake.", + "Secure the plastic bottle and perform a shake.", + "Grab the medium-sized bottle and give it a shake.", + "Shake the yellow bottle with blue label after grabbing it.", + "Lift the bottle with screw cap and shake it thoroughly.", + "Grasp the bottle with screw cap with the right arm and shake it.", + "Secure the yellow bottle, shake it, and place it down.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "Lift the medium plastic bottle with cap with the right arm and give it a shake.", + "Grab the yellow bottle for liquid storage carefully and shake.", + "With the right arm, pick the yellow bottle with dark label and shake properly.", + "Grab the plastic bottle with curved sides using the right arm, then shake.", + "Shake the bottle for liquid using the right arm after grabbing.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Shake the medium plastic bottle with cap thoroughly after grabbing it.", + "Shake the plastic bottle with curved sides after lifting it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Lift up the bottle with screw cap using the right arm, then shake.", + "Shake the handheld curvy bottle after grabbing it.", + "Hold and shake the the plastic bottle carefully.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Pick up the yellow bottle with dark label and shake it well.", + "Use the right arm to pick and shake the yellow bottle.", + "Shake the the medium-sized bottle properly after lifting.", + "Grab the medium-sized bottle and shake it steadily.", + "Take the yellow bottle with blue label using the right arm and give it a shake.", + "Utilize the right arm to hold the bottle with screw cap and shake it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Catch the smooth plastic bottle and shake it instantly.", + "Pick up the yellow bottle with dark label and shake it.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Shake the bottle with screw cap after grabbing it.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Hold the medium plastic bottle with cap and shake it properly.", + "Use the right arm to grab the medium plastic bottle with cap and shake properly.", + "Lift the yellow bottle with the right arm and shake it.", + "Hold the yellow bottle with dark label, shake it briefly.", + "Lift the medium-sized bottle and shake it gently.", + "Use the right arm to hold the plastic bottle and shake it.", + "Lift the yellow bottle with the right arm and shake.", + "Grip the medium-sized bottle using the right arm and shake.", + "Pick the yellow bottle with dark label up using the right arm and shake it.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Use the right arm to lift and shake the bottle for liquid.", + "Use the right arm to grab the plastic bottle and shake it.", + "Shake the handheld curvy bottle after holding it firmly.", + "Hold the medium-sized bottle steady, then shake it.", + "Pick the medium plastic bottle with cap up with the right arm and shake.", + "Grab the smooth plastic bottle with the right arm and shake." + ], + "unseen": [ + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode461.json b/shake_bottle/ur5_randomized_500/instructions/episode461.json new file mode 100644 index 0000000000000000000000000000000000000000..8d301bc2ae6d44a71f8fc3b242302db5919f1236 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode461.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with flat sides and logo and shake it properly.", + "Hold the medium-sized brown plastic bottle, shake it briefly.", + "Pick up the smooth brown bottle with green label and shake it.", + "Pick up the bottle with flat sides and logo and shake it well.", + "Pick the smooth brown bottle with green label, shake it with the right arm.", + "Use the right arm to lift and shake the smooth brown bottle with green label.", + "Pick the medium-sized brown plastic bottle up using the right arm and shake it.", + "Secure the brown bottle with rounded rectangular shape and perform a shake.", + "Shake the bottle with flat sides and logo thoroughly after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the rectangular brown body with white top after grabbing it.", + "Grab the rectangular-shaped bottle with round cap and give it a shake.", + "Catch the dark brown bottle with a squared body and shake it instantly.", + "With the right arm, pick the smooth plastic bottle with white cap and shake properly.", + "Lift the medium-sized brown plastic bottle and shake it thoroughly.", + "Grasp the smooth brown bottle with green label with the right arm and shake it.", + "Shake the rectangular-shaped bottle with round cap after holding it firmly.", + "Lift up the smooth plastic bottle with white cap using the right arm, then shake.", + "Hold the bottle with green cap steady, then shake it.", + "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.", + "Take the dark brown bottle with a squared body using the right arm and give it a shake.", + "Lift the dark brown bottle with a squared body and shake it gently.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Shake the the brown bottle with rounded rectangular shape properly after lifting.", + "Grab the medium-sized brown plastic bottle using the right arm, then shake.", + "Grip the smooth plastic bottle with white cap using the right arm and shake.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the rectangular brown body with white top carefully and shake.", + "Use the right arm to grab the brown bottle and shake it.", + "Utilize the right arm to hold the brown bottle and shake it.", + "Shake the bottle with green cap after lifting it.", + "Hold and shake the the brown bottle with rounded rectangular shape carefully.", + "Pick the medium-sized brown plastic bottle up with the right arm and shake.", + "Secure the bottle with green cap, shake it, and place it down.", + "Grab the rectangular-shaped bottle with round cap and move it to shake.", + "Use the right arm to pick and shake the medium-sized brown plastic bottle.", + "Lift the brown bottle with rounded rectangular shape with the right arm and give it a shake.", + "Shake the bottle with green cap using the right arm after grabbing.", + "Lift the brown bottle with the right arm and shake it.", + "Grab the medium-sized brown plastic bottle firmly, shake it, and put it down.", + "Use the right arm to hold the medium bottle with glossy surface and shake it.", + "Grab the brown bottle with rounded rectangular shape and shake it steadily.", + "Pick the smooth plastic bottle with white cap and perform shaking motion.", + "Shake the brown bottle with rounded rectangular shape firmly after grabbing.", + "Lift the plastic bottle with the right arm and shake.", + "Hold the medium-sized brown plastic bottle with the right arm and shake lightly.", + "Using the right arm, shake the brown bottle and then place it back.", + "Grab and shake the rectangular brown body with white top using the right arm.", + "Shake the brown bottle after grabbing it.", + "Grab the brown bottle with the right arm and shake.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "Hold the dark brown bottle with a squared body, shake it briefly.", + "Pick up the smooth brown bottle with green label and shake it.", + "Pick up the bottle with green cap and shake it well.", + "Pick the plastic bottle, shake it with the right arm.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the dark brown bottle with a squared body up using the right arm and shake it.", + "Secure the smooth plastic bottle with white cap and perform a shake.", + "Shake the rectangular brown body with white top thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium-sized brown plastic bottle.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Grab the brown bottle and give it a shake.", + "Catch the medium-sized brown plastic bottle and shake it instantly.", + "With the right arm, pick the rectangular-shaped bottle with round cap and shake properly.", + "Lift the plastic bottle and shake it thoroughly.", + "Grasp the bottle with green cap with the right arm and shake it.", + "Shake the rectangular-shaped bottle with round cap after holding it firmly.", + "Lift up the smooth plastic bottle with white cap using the right arm, then shake.", + "Hold the smooth plastic bottle with white cap steady, then shake it.", + "Use the right arm to lift and shake the smooth plastic bottle with white cap.", + "Take the plastic bottle using the right arm and give it a shake.", + "Lift the medium bottle with glossy surface and shake it gently.", + "Shake the rectangular brown body with white top after grabbing it.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Grab the brown bottle using the right arm, then shake.", + "Grip the rectangular brown body with white top using the right arm and shake.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Use the right arm to grab the bottle with flat sides and logo and shake it.", + "Utilize the right arm to hold the brown bottle and shake it.", + "Shake the bottle with green cap after lifting it.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Pick the brown bottle with rounded rectangular shape up with the right arm and shake.", + "Secure the smooth plastic bottle with white cap, shake it, and place it down.", + "Grab the rectangular-shaped bottle with round cap and move it to shake.", + "Use the right arm to pick and shake the bottle with flat sides and logo.", + "Lift the bottle with flat sides and logo with the right arm and give it a shake.", + "Shake the bottle with flat sides and logo using the right arm after grabbing.", + "Lift the bottle with flat sides and logo with the right arm and shake it.", + "Grab the smooth plastic bottle with white cap firmly, shake it, and put it down.", + "Use the right arm to hold the medium bottle with glossy surface and shake it.", + "Grab the brown bottle and shake it steadily.", + "Pick the dark brown bottle with a squared body and perform shaking motion.", + "Shake the rectangular-shaped bottle with round cap firmly after grabbing.", + "Lift the bottle with green cap with the right arm and shake.", + "Hold the dark brown bottle with a squared body with the right arm and shake lightly.", + "Using the right arm, shake the rectangular brown body with white top and then place it back.", + "Grab and shake the bottle with flat sides and logo using the right arm.", + "Shake the brown bottle after grabbing it.", + "Grab the rectangular-shaped bottle with round cap with the right arm and shake." + ], + "unseen": [ + "Use the right arm to pick the bottle with green label and white lid.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Use the right arm to pick the bottle with green label and white lid.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode462.json b/shake_bottle/ur5_randomized_500/instructions/episode462.json new file mode 100644 index 0000000000000000000000000000000000000000..95dfcda6e7604b0095f7276c1da61ab56ee8772c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode462.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the orange and white bottle with cap with the right arm and shake.", + "Hold the yellow label bottle with the right arm and shake lightly.", + "Use the right arm to grab the orange bottle and shake it.", + "Lift the bottle with orange cap with the right arm and give it a shake.", + "Use the right arm to lift and shake the medium orange bottle.", + "Shake the orange bottle after grabbing it.", + "Utilize the right arm to hold the bottle with ribbed orange bottom and shake it.", + "Grab the drinking bottle with yellow label firmly, shake it, and put it down.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Use the right arm to pick and shake the bottle with orange cap.", + "With the right arm, pick the medium bottle with orange lid and shake properly.", + "Grab and shake the yellow label bottle using the right arm.", + "Shake the bottle with orange cap after grabbing it.", + "Grab the yellow label bottle and move it to shake.", + "Grasp the medium bottle with orange lid with the right arm and shake it.", + "Lift the medium bottle with orange lid with the right arm and shake it.", + "Shake the bottle with ribbed orange bottom firmly after grabbing.", + "Use the right arm to lift and shake the medium orange bottle.", + "Grab the bottle with orange cap and shake it steadily.", + "Grab the bottle with ribbed orange bottom and give it a shake.", + "Lift the orange and white bottle with cap and shake it gently.", + "Pick the drinking bottle with yellow label up with the right arm and shake.", + "Catch the cylindrical orange and white bottle and shake it instantly.", + "Pick up the bottle with orange cap and shake it well.", + "Shake the the medium bottle with orange lid properly after lifting.", + "Hold the medium orange bottle steady, then shake it.", + "Lift up the orange and white bottle with cap using the right arm, then shake.", + "Grab the orange and white bottle with cap carefully and shake.", + "Pick up the medium bottle with orange lid and shake it.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "Hold the smooth plastic bottle and shake it properly.", + "Shake the drinking bottle with yellow label thoroughly after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Grip the medium orange bottle using the right arm and shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Hold the bottle with ribbed orange bottom, shake it briefly.", + "Grab the bottle with orange cap using the right arm, then shake.", + "Shake the medium bottle with orange lid after grabbing it.", + "Use the right arm to hold the medium bottle with orange lid and shake it.", + "Pick the medium bottle with orange lid, shake it with the right arm.", + "Using the right arm, shake the cylindrical orange and white bottle and then place it back.", + "Shake the drinking bottle with yellow label after lifting it.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Hold and shake the the orange and white bottle with cap carefully.", + "Shake the medium orange bottle after holding it firmly.", + "Pick the cylindrical orange and white bottle up using the right arm and shake it.", + "Take the medium bottle with orange lid using the right arm and give it a shake.", + "Grab the medium bottle with orange lid with the right arm and shake.", + "Use the right arm to grab the bottle with orange cap and shake properly.", + "Secure the smooth plastic bottle and perform a shake.", + "Lift the medium orange bottle with the right arm and shake.", + "Hold the white and orange plastic bottle with the right arm and shake lightly.", + "Use the right arm to grab the medium orange bottle and shake it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the drinking bottle with yellow label.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Utilize the right arm to hold the cylindrical orange and white bottle and shake it.", + "Grab the medium bottle with orange lid firmly, shake it, and put it down.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Use the right arm to pick and shake the yellow label bottle.", + "With the right arm, pick the yellow label bottle and shake properly.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Shake the white and orange plastic bottle after grabbing it.", + "Grab the yellow label bottle and move it to shake.", + "Grasp the bottle with ribbed orange bottom with the right arm and shake it.", + "Lift the cylindrical orange and white bottle with the right arm and shake it.", + "Shake the orange bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium bottle with orange lid.", + "Grab the drinking bottle with yellow label and shake it steadily.", + "Grab the orange bottle and give it a shake.", + "Lift the medium bottle with orange lid and shake it gently.", + "Pick the orange and white bottle with cap up with the right arm and shake.", + "Catch the orange bottle and shake it instantly.", + "Pick up the cylindrical orange and white bottle and shake it well.", + "Shake the the bottle with ribbed orange bottom properly after lifting.", + "Hold the drinking bottle with yellow label steady, then shake it.", + "Lift up the orange and white bottle with cap using the right arm, then shake.", + "Grab the yellow label bottle carefully and shake.", + "Pick up the white and orange plastic bottle and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the smooth plastic bottle and shake it properly.", + "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.", + "Use the right arm to lift and shake the orange bottle.", + "Grip the yellow label bottle using the right arm and shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Hold the smooth plastic bottle, shake it briefly.", + "Grab the cylindrical orange and white bottle using the right arm, then shake.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Pick the bottle with ribbed orange bottom, shake it with the right arm.", + "Using the right arm, shake the orange and white bottle with cap and then place it back.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Shake the yellow label bottle using the right arm after grabbing.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Shake the medium orange bottle after holding it firmly.", + "Pick the white and orange plastic bottle up using the right arm and shake it.", + "Take the smooth plastic bottle using the right arm and give it a shake.", + "Grab the orange and white bottle with cap with the right arm and shake.", + "Use the right arm to grab the white and orange plastic bottle and shake properly.", + "Secure the cylindrical orange and white bottle and perform a shake." + ], + "unseen": [ + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the bottle with curved body with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick and shake the the bottle with curved body with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode463.json b/shake_bottle/ur5_randomized_500/instructions/episode463.json new file mode 100644 index 0000000000000000000000000000000000000000..9304c342ff5fd4fcb8b0f04ccbda4d9a76f3d7d8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode463.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the medium bottle with yellow cap and then place it back.", + "Use the right arm to pick and shake the black plastic bottle with Pepsi logo.", + "With the right arm, pick the bottle with blue and yellow print and shake properly.", + "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.", + "Lift up the smooth black bottle with ridges using the right arm, then shake.", + "Hold and shake the the black bottle carefully.", + "Grab the medium black bottle with printed label and give it a shake.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Grab the drink bottle with rounded yellow lid and shake it steadily.", + "Lift the smooth black bottle with ridges with the right arm and shake.", + "Hold the plastic bottle with colorful label steady, then shake it.", + "Lift the plastic bottle with colorful label and shake it gently.", + "Take the yellow capped drink bottle using the right arm and give it a shake.", + "Hold the black bottle and shake it properly.", + "Grab the smooth black bottle with ridges carefully and shake.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Grip the medium black bottle with printed label using the right arm and shake.", + "Lift the black bottle with the right arm and give it a shake.", + "Grab the black cylindrical bottle with ridges with the right arm and shake.", + "Shake the medium black bottle with printed label after grabbing it.", + "Use the right arm to grab the drink bottle with rounded yellow lid and shake properly.", + "Shake the bottle with blue and yellow print using the right arm after grabbing.", + "Lift the medium black bottle with printed label with the right arm and shake it.", + "Shake the smooth black bottle with ridges after lifting it.", + "Grab and shake the smooth black bottle with ridges using the right arm.", + "Shake the yellow capped drink bottle firmly after grabbing.", + "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.", + "Utilize the right arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Hold the medium bottle with yellow cap, shake it briefly.", + "Use the right arm to lift and shake the black cylindrical bottle with ridges.", + "Pick the smooth black bottle with ridges up with the right arm and shake.", + "Use the right arm to lift and shake the black bottle.", + "Pick up the smooth black bottle with ridges and shake it well.", + "Pick up the black plastic bottle with Pepsi logo and shake it.", + "Catch the black cylindrical bottle with ridges and shake it instantly.", + "Use the right arm to grab the medium black bottle with printed label and shake it.", + "Pick the medium black bottle with printed label up using the right arm and shake it.", + "Secure the bottle with blue and yellow print and perform a shake.", + "Shake the the black cylindrical bottle with ridges properly after lifting.", + "Grasp the beverage bottle with black body with the right arm and shake it.", + "Hold the yellow capped drink bottle with the right arm and shake lightly.", + "Grab the medium bottle with yellow cap using the right arm, then shake.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Lift the medium bottle with yellow cap and shake it thoroughly.", + "Use the right arm to lift and shake the black bottle.", + "Grab the bottle with blue and yellow print and move it to shake.", + "Secure the yellow capped drink bottle, shake it, and place it down.", + "Shake the yellow capped drink bottle thoroughly after grabbing it.", + "Using the right arm, shake the medium black bottle with printed label and then place it back.", + "Use the right arm to pick and shake the yellow capped drink bottle.", + "With the right arm, pick the yellow capped drink bottle and shake properly.", + "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.", + "Lift up the plastic bottle with colorful label using the right arm, then shake.", + "Hold and shake the the medium black bottle with printed label carefully.", + "Grab the black plastic bottle with Pepsi logo and give it a shake.", + "Pick the drink bottle with rounded yellow lid and perform shaking motion.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Shake the yellow capped drink bottle after grabbing it.", + "Grab the black bottle and shake it steadily.", + "Lift the beverage bottle with black body with the right arm and shake.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Lift the bottle with blue and yellow print and shake it gently.", + "Take the medium bottle with yellow cap using the right arm and give it a shake.", + "Hold the medium black bottle with printed label and shake it properly.", + "Grab the drink bottle with rounded yellow lid carefully and shake.", + "Grab the yellow capped drink bottle firmly, shake it, and put it down.", + "Grip the medium black bottle with printed label using the right arm and shake.", + "Lift the bottle with blue and yellow print with the right arm and give it a shake.", + "Grab the medium black bottle with printed label with the right arm and shake.", + "Shake the medium black bottle with printed label after grabbing it.", + "Use the right arm to grab the medium bottle with yellow cap and shake properly.", + "Shake the plastic bottle with colorful label using the right arm after grabbing.", + "Lift the yellow capped drink bottle with the right arm and shake it.", + "Shake the black bottle after lifting it.", + "Grab and shake the plastic bottle with colorful label using the right arm.", + "Shake the bottle with blue and yellow print firmly after grabbing.", + "Use the right arm to hold the medium bottle with yellow cap and shake it.", + "Utilize the right arm to hold the medium bottle with yellow cap and shake it.", + "Hold the yellow-capped cylindrical bottle, shake it briefly.", + "Use the right arm to lift and shake the medium bottle with yellow cap.", + "Pick the yellow capped drink bottle up with the right arm and shake.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Pick up the drink bottle with rounded yellow lid and shake it well.", + "Pick up the yellow-capped cylindrical bottle and shake it.", + "Catch the smooth black bottle with ridges and shake it instantly.", + "Use the right arm to grab the drink bottle with rounded yellow lid and shake it.", + "Pick the black plastic bottle with Pepsi logo up using the right arm and shake it.", + "Secure the medium bottle with yellow cap and perform a shake.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Grasp the black plastic bottle with Pepsi logo with the right arm and shake it.", + "Hold the medium bottle with yellow cap with the right arm and shake lightly.", + "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.", + "Shake the black bottle after holding it firmly.", + "Lift the medium black bottle with printed label and shake it thoroughly.", + "Use the right arm to lift and shake the yellow capped drink bottle.", + "Grab the medium black bottle with printed label and move it to shake.", + "Secure the smooth black bottle with ridges, shake it, and place it down.", + "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it." + ], + "unseen": [ + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode464.json b/shake_bottle/ur5_randomized_500/instructions/episode464.json new file mode 100644 index 0000000000000000000000000000000000000000..10ec41da59d68288c1999f1b7394693538adb511 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode464.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the plastic bottle with colorful label.", + "Grab the black plastic bottle with Pepsi logo and move it to shake.", + "Use the right arm to grab the black plastic bottle with Pepsi logo and shake properly.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Grip the medium black bottle with printed label using the right arm and shake.", + "Catch the medium black bottle with printed label and shake it instantly.", + "Lift up the yellow capped drink bottle using the right arm, then shake.", + "Secure the black bottle, shake it, and place it down.", + "Shake the bottle with blue and yellow print after lifting it.", + "Lift the black cylindrical bottle with ridges with the right arm and shake it.", + "Use the right arm to hold the smooth black bottle with ridges and shake it.", + "Shake the drink bottle with rounded yellow lid using the right arm after grabbing.", + "Grab the black plastic bottle with Pepsi logo carefully and shake.", + "Use the right arm to grab the yellow capped drink bottle and shake it.", + "Shake the medium black bottle with printed label firmly after grabbing.", + "Utilize the right arm to hold the medium bottle with yellow cap and shake it.", + "Use the right arm to lift and shake the medium black bottle with printed label.", + "Lift the medium bottle with yellow cap with the right arm and shake.", + "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.", + "Shake the the black bottle properly after lifting.", + "Grab and shake the drink bottle with rounded yellow lid using the right arm.", + "Pick the medium black bottle with printed label, shake it with the right arm.", + "Take the beverage bottle with black body using the right arm and give it a shake.", + "Grab the beverage bottle with black body with the right arm and shake.", + "Grab the yellow capped drink bottle and shake it steadily.", + "Hold the smooth black bottle with ridges, shake it briefly.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Grasp the yellow-capped cylindrical bottle with the right arm and shake it.", + "Hold the plastic bottle with colorful label with the right arm and shake lightly.", + "With the right arm, pick the plastic bottle with colorful label and shake properly.", + "Lift the black cylindrical bottle with ridges and shake it gently.", + "Pick the yellow-capped cylindrical bottle and perform shaking motion.", + "Hold the black plastic bottle with Pepsi logo and shake it properly.", + "Shake the black cylindrical bottle with ridges after holding it firmly.", + "Use the right arm to pick and shake the beverage bottle with black body.", + "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.", + "Pick the medium black bottle with printed label up using the right arm and shake it.", + "Secure the yellow capped drink bottle and perform a shake.", + "Pick up the yellow-capped cylindrical bottle and shake it well.", + "Using the right arm, shake the yellow capped drink bottle and then place it back.", + "Pick up the black bottle and shake it.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Use the right arm to lift and shake the black cylindrical bottle with ridges.", + "Grab the yellow capped drink bottle and give it a shake.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Lift the black bottle and shake it thoroughly.", + "Hold and shake the the plastic bottle with colorful label carefully.", + "Pick the smooth black bottle with ridges up with the right arm and shake.", + "Grab the yellow capped drink bottle using the right arm, then shake.", + "Lift the medium bottle with yellow cap with the right arm and give it a shake.", + "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.", + "Grab the smooth black bottle with ridges and move it to shake.", + "Use the right arm to grab the plastic bottle with colorful label and shake properly.", + "Hold the bottle with blue and yellow print steady, then shake it.", + "Grip the black bottle using the right arm and shake.", + "Catch the black cylindrical bottle with ridges and shake it instantly.", + "Lift up the medium black bottle with printed label using the right arm, then shake.", + "Secure the yellow capped drink bottle, shake it, and place it down.", + "Shake the medium black bottle with printed label after lifting it.", + "Lift the yellow capped drink bottle with the right arm and shake it.", + "Use the right arm to hold the black bottle and shake it.", + "Shake the plastic bottle with colorful label using the right arm after grabbing.", + "Grab the black cylindrical bottle with ridges carefully and shake.", + "Use the right arm to grab the yellow capped drink bottle and shake it.", + "Shake the beverage bottle with black body firmly after grabbing.", + "Utilize the right arm to hold the beverage bottle with black body and shake it.", + "Use the right arm to lift and shake the smooth black bottle with ridges.", + "Lift the plastic bottle with colorful label with the right arm and shake.", + "Shake the plastic bottle with colorful label thoroughly after grabbing it.", + "Shake the the beverage bottle with black body properly after lifting.", + "Grab and shake the black cylindrical bottle with ridges using the right arm.", + "Pick the beverage bottle with black body, shake it with the right arm.", + "Take the medium black bottle with printed label using the right arm and give it a shake.", + "Grab the black plastic bottle with Pepsi logo with the right arm and shake.", + "Grab the black cylindrical bottle with ridges and shake it steadily.", + "Hold the black plastic bottle with Pepsi logo, shake it briefly.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Grasp the medium bottle with yellow cap with the right arm and shake it.", + "Hold the medium black bottle with printed label with the right arm and shake lightly.", + "With the right arm, pick the medium bottle with yellow cap and shake properly.", + "Lift the yellow-capped cylindrical bottle and shake it gently.", + "Pick the plastic bottle with colorful label and perform shaking motion.", + "Hold the black bottle and shake it properly.", + "Shake the smooth black bottle with ridges after holding it firmly.", + "Use the right arm to pick and shake the plastic bottle with colorful label.", + "Grab the black plastic bottle with Pepsi logo firmly, shake it, and put it down.", + "Pick the black bottle up using the right arm and shake it.", + "Secure the smooth black bottle with ridges and perform a shake.", + "Pick up the yellow capped drink bottle and shake it well.", + "Using the right arm, shake the black cylindrical bottle with ridges and then place it back.", + "Pick up the bottle with blue and yellow print and shake it.", + "Shake the medium bottle with yellow cap after grabbing it.", + "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.", + "Grab the black bottle and give it a shake.", + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Hold and shake the the drink bottle with rounded yellow lid carefully.", + "Pick the drink bottle with rounded yellow lid up with the right arm and shake.", + "Grab the medium black bottle with printed label using the right arm, then shake.", + "Lift the black bottle with the right arm and give it a shake." + ], + "unseen": [ + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode465.json b/shake_bottle/ur5_randomized_500/instructions/episode465.json new file mode 100644 index 0000000000000000000000000000000000000000..24278fbdbaa340960e77af3dbc4780b71798bf02 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode465.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red bottle with narrow neck and shake it.", + "Use the right arm to grab the red bottle with white bottom text and shake properly.", + "Grab the bottle with red cap with the right arm and shake.", + "Grasp the plastic bottle with bright red color with the right arm and shake it.", + "Utilize the right arm to hold the red bottle and shake it.", + "Shake the red bottle with curved grooves after grabbing it.", + "Shake the handheld plastic bottle firmly after grabbing.", + "Pick the red bottle with white bottom text up with the right arm and shake.", + "Lift the yellow text bottle and shake it gently.", + "Hold the red bottle steady, then shake it.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the yellow text bottle after lifting it.", + "Secure the red bottle with curved grooves, shake it, and place it down.", + "Using the right arm, shake the red bottle with narrow neck and then place it back.", + "Hold the bottle with red cap, shake it briefly.", + "Grab and shake the handheld plastic bottle using the right arm.", + "Pick the red bottle with narrow neck and perform shaking motion.", + "Lift the red bottle with curved grooves with the right arm and shake.", + "Shake the the bottle with red cap properly after lifting.", + "Use the right arm to lift and shake the smooth red cylindrical bottle.", + "Shake the red bottle with curved grooves thoroughly after grabbing it.", + "Grab the red bottle with curved grooves using the right arm, then shake.", + "Shake the medium-size plastic bottle using the right arm after grabbing.", + "Pick the medium-size plastic bottle, shake it with the right arm.", + "Use the right arm to hold the red bottle and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Grab the red bottle firmly, shake it, and put it down.", + "Lift up the bottle with red cap using the right arm, then shake.", + "Grab the red bottle with curved grooves and shake it steadily.", + "Grab the red bottle with screw cap carefully and shake.", + "Grab the red bottle with curved grooves and move it to shake.", + "With the right arm, pick the red bottle and shake properly.", + "Use the right arm to lift and shake the red bottle with curved grooves.", + "Grab the yellow text bottle and give it a shake.", + "Hold the red bottle with narrow neck with the right arm and shake lightly.", + "Grip the bottle with red cap using the right arm and shake.", + "Shake the yellow text bottle after grabbing it.", + "Use the right arm to pick and shake the red bottle with curved grooves.", + "Use the right arm to grab the medium-size plastic bottle and shake it.", + "Hold the handheld plastic bottle and shake it properly.", + "Catch the plastic bottle with bright red color and shake it instantly.", + "Take the red bottle with narrow neck using the right arm and give it a shake.", + "Use the right arm to lift and shake the plastic bottle with bright red color.", + "Lift the red bottle with curved grooves and shake it thoroughly.", + "Secure the red bottle and perform a shake.", + "Pick up the medium-size plastic bottle and shake it well.", + "Hold and shake the the red bottle with screw cap carefully.", + "Shake the smooth red cylindrical bottle after grabbing it.", + "Pick the red bottle with curved grooves up using the right arm and shake it.", + "Lift the red bottle with narrow neck with the right arm and give it a shake.", + "Pick up the yellow text bottle and shake it.", + "Use the right arm to grab the red bottle with curved grooves and shake properly.", + "Grab the yellow text bottle with the right arm and shake.", + "Grasp the medium-size plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the red bottle and shake it.", + "Shake the plastic bottle with bright red color after grabbing it.", + "Shake the red bottle firmly after grabbing.", + "Pick the red bottle with curved grooves up with the right arm and shake.", + "Lift the red bottle with screw cap and shake it gently.", + "Hold the smooth red cylindrical bottle steady, then shake it.", + "Lift the red bottle with white bottom text with the right arm and shake it.", + "Shake the yellow text bottle after lifting it.", + "Secure the medium-size plastic bottle, shake it, and place it down.", + "Using the right arm, shake the yellow text bottle and then place it back.", + "Hold the plastic bottle with bright red color, shake it briefly.", + "Grab and shake the red bottle with curved grooves using the right arm.", + "Pick the red bottle and perform shaking motion.", + "Lift the medium-size plastic bottle with the right arm and shake.", + "Shake the the red bottle with screw cap properly after lifting.", + "Use the right arm to lift and shake the red bottle with narrow neck.", + "Shake the bottle with red cap thoroughly after grabbing it.", + "Grab the red bottle using the right arm, then shake.", + "Shake the handheld plastic bottle using the right arm after grabbing.", + "Pick the red bottle with curved grooves, shake it with the right arm.", + "Use the right arm to hold the red bottle and shake it.", + "Shake the yellow text bottle after holding it firmly.", + "Grab the medium-size plastic bottle firmly, shake it, and put it down.", + "Lift up the red bottle with curved grooves using the right arm, then shake.", + "Grab the yellow text bottle and shake it steadily.", + "Grab the medium-size plastic bottle carefully and shake.", + "Grab the handheld plastic bottle and move it to shake.", + "With the right arm, pick the red bottle with narrow neck and shake properly.", + "Use the right arm to lift and shake the plastic bottle with bright red color.", + "Grab the smooth red cylindrical bottle and give it a shake.", + "Hold the handheld plastic bottle with the right arm and shake lightly.", + "Grip the plastic bottle with bright red color using the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to pick and shake the yellow text bottle.", + "Use the right arm to grab the smooth red cylindrical bottle and shake it.", + "Hold the medium-size plastic bottle and shake it properly.", + "Catch the plastic bottle with bright red color and shake it instantly.", + "Take the red bottle with screw cap using the right arm and give it a shake.", + "Use the right arm to lift and shake the handheld plastic bottle.", + "Lift the smooth red cylindrical bottle and shake it thoroughly.", + "Secure the red bottle with screw cap and perform a shake.", + "Pick up the red bottle with white bottom text and shake it well.", + "Hold and shake the the red bottle carefully.", + "Shake the yellow text bottle after grabbing it.", + "Pick the plastic bottle with bright red color up using the right arm and shake it.", + "Lift the plastic bottle with the right arm and give it a shake." + ], + "unseen": [ + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the shiny red bottle and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with white and yellow label and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the bottle with white and yellow label and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Shake the bottle with yellow Chinese characters after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Pick and shake the the bottle with yellow Chinese characters with the right arm.", + "Grab the shiny red bottle and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with yellow Chinese characters and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Pick and shake the the shiny red bottle with the right arm.", + "Grab the shiny red bottle and shake it.", + "Grab the shiny red bottle, shake it properly, then set it down.", + "Pick up the bottle with yellow Chinese characters with the right arm and shake.", + "Use the right arm to grab the bottle with yellow Chinese characters and shake.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with white and yellow label.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with white and yellow label, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the shiny red bottle and shake.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the shiny red bottle after picking it with the right arm.", + "Pick up the bottle with white and yellow label and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with yellow Chinese characters and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the shiny red bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the bottle with yellow Chinese characters and give it a shake.", + "Pick up the shiny red bottle and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the shiny red bottle.", + "Pick and shake the the bottle with white and yellow label with the right arm.", + "Grab the bottle with white and yellow label and shake it.", + "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.", + "Pick up the bottle with white and yellow label with the right arm and shake.", + "Use the right arm to grab the bottle with white and yellow label and shake.", + "Grab the shiny red bottle and give it a shake.", + "Pick up the bottle with white and yellow label and shake it.", + "Shake the bottle with white and yellow label after picking it with the right arm.", + "Pick up the shiny red bottle and shake it.", + "Use the right arm to pick the bottle with yellow Chinese characters." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode466.json b/shake_bottle/ur5_randomized_500/instructions/episode466.json new file mode 100644 index 0000000000000000000000000000000000000000..92a2e8d44c161ada810301546918ea0c572bcbc1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode466.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium-sized green bottle after grabbing it.", + "Shake the plastic bottle after lifting it.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Pick the plastic bottle, shake it with the right arm.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Use the right arm to hold the plastic bottle and shake it.", + "Hold and shake the the handheld green bottle carefully.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Shake the bottle with narrow top after holding it firmly.", + "Use the right arm to pick and shake the handheld green bottle.", + "Shake the bottle with ridges near base after grabbing it.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the handheld green bottle carefully and shake.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Pick up the smooth green plastic bottle and shake it.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Lift the bottle with ridges near base and shake it gently.", + "Hold the plastic bottle and shake it properly.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Hold the bottle with narrow top, shake it briefly.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Secure the smooth green bottle and perform a shake.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Lift the medium green bottle with the right arm and shake.", + "Shake the bottle with white printed label firmly after grabbing.", + "Pick up the smooth green bottle and shake it well.", + "Grab the smooth green bottle with the right arm and shake.", + "Grip the handheld green bottle using the right arm and shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Lift the smooth green bottle and shake it thoroughly.", + "Grab the smooth green plastic bottle and give it a shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grab the medium-sized green bottle and shake it steadily.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Grab the plastic bottle using the right arm, then shake.", + "Secure the smooth green bottle, shake it, and place it down.", + "Lift the handheld green bottle with the right arm and shake it.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Catch the medium green bottle and shake it instantly.", + "Hold the handheld green bottle steady, then shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the smooth green bottle after lifting it.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Grab and shake the medium green bottle using the right arm.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Grab the bottle with white printed label and move it to shake.", + "Use the right arm to hold the medium green bottle and shake it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Shake the green bottle with indented base after holding it firmly.", + "Use the right arm to pick and shake the smooth green bottle.", + "Shake the bottle with white printed label after grabbing it.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Grab the medium green bottle carefully and shake.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Pick up the plastic bottle and shake it.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Lift the handheld green bottle and shake it gently.", + "Hold the handheld green bottle and shake it properly.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Secure the bottle with ridges near base and perform a shake.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Pick the medium green bottle up with the right arm and shake.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab the smooth green bottle with the right arm and shake.", + "Grip the green bottle with indented base using the right arm and shake.", + "Shake the the handheld green bottle properly after lifting.", + "Lift the handheld green bottle and shake it thoroughly.", + "Grab the smooth green bottle and give it a shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Grab the green bottle with indented base and shake it steadily.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the handheld green bottle after grabbing it.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Hold the medium-sized green bottle steady, then shake it." + ], + "unseen": [ + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode467.json b/shake_bottle/ur5_randomized_500/instructions/episode467.json new file mode 100644 index 0000000000000000000000000000000000000000..51f5c1fe86d011f76fe10e17adafa6fea299ed7d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode467.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium dark brown bottle and shake it well.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Lift the long thin bottle with the left arm and shake it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to grab the long thin bottle and shake it.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Grab the hand-sized soda bottle carefully and shake.", + "Shake the long thin bottle after lifting it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the plastic drink bottle and give it a shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the long thin bottle with the left arm and shake.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Shake the brown bottle with red label after holding it firmly.", + "Use the left arm to hold the long thin bottle and shake it.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Lift the brown bottle with red label with the left arm and shake.", + "Grab the brown bottle with red label and move it to shake.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Shake the long thin bottle firmly after grabbing.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Shake the the plastic drink bottle properly after lifting.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Pick up the plastic drink bottle and shake it.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the Coca-Cola bottle carefully and shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Hold the plastic drink bottle and shake it properly.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Hold and shake the the narrow-necked bottle carefully.", + "Catch the narrow-necked bottle and shake it instantly.", + "Grab the bottle with white neck and red top and give it a shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Shake the narrow-necked bottle after holding it firmly.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick the brown bottle with red label and perform shaking motion.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Shake the the red-capped bottle properly after lifting." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode468.json b/shake_bottle/ur5_randomized_500/instructions/episode468.json new file mode 100644 index 0000000000000000000000000000000000000000..5c4a69774ab450d6c23cfd0fe234932f6a0dc218 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode468.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the ridged orange bottle with grooves after holding it firmly.", + "Utilize the left arm to hold the cylindrical orange plastic bottle and shake it.", + "Lift the curved orange soda bottle and shake it gently.", + "Shake the the medium bottle with colorful label properly after lifting.", + "Secure the round-bottom bottle with white cap and perform a shake.", + "Lift the round-bottom bottle with white cap with the left arm and give it a shake.", + "Grab the orange bottle and give it a shake.", + "Grab the medium bottle with colorful label using the left arm, then shake.", + "Grab the smooth orange bottle with the left arm and shake.", + "Lift the smooth orange bottle with the left arm and shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Hold the ridged orange bottle with grooves, shake it briefly.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Use the left arm to hold the bottle for holding drinks and shake it.", + "Shake the light and medium-sized bottle after grabbing it.", + "Grab and shake the cylindrical orange plastic bottle using the left arm.", + "Shake the round-bottom bottle with white cap using the left arm after grabbing.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grab the round-bottom bottle with white cap and move it to shake.", + "Hold the grooved orange drink bottle and shake it properly.", + "Hold and shake the the light and medium-sized bottle carefully.", + "Shake the curved orange soda bottle thoroughly after grabbing it.", + "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.", + "Use the left arm to grab the plastic bottle and shake it.", + "Lift the orange drink bottle with label and shake it thoroughly.", + "Shake the plastic bottle after grabbing it.", + "Pick the ridged orange bottle with grooves, shake it with the left arm.", + "Hold the curved orange soda bottle steady, then shake it.", + "Secure the round-bottom bottle with white cap, shake it, and place it down.", + "Pick the grooved orange drink bottle up with the left arm and shake.", + "Grab the orange bottle carefully and shake.", + "Pick up the light and medium-sized bottle and shake it.", + "Using the left arm, shake the cylindrical orange plastic bottle and then place it back.", + "Grasp the bottle for holding drinks with the left arm and shake it.", + "Pick up the cylindrical orange plastic bottle and shake it well.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Pick the round-bottom bottle with white cap and perform shaking motion.", + "Grab the smooth orange bottle and shake it steadily.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Shake the orange drink bottle with label after lifting it.", + "Lift up the medium bottle with colorful label using the left arm, then shake.", + "Use the left arm to pick and shake the ridged orange bottle with grooves.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Pick the light and medium-sized bottle up using the left arm and shake it.", + "Grip the curved orange soda bottle using the left arm and shake.", + "Take the cylindrical orange plastic bottle using the left arm and give it a shake.", + "Hold the orange bottle with the left arm and shake lightly.", + "Lift the orange bottle with the left arm and shake it.", + "Shake the ridged orange bottle with grooves after holding it firmly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Lift the medium bottle with colorful label and shake it gently.", + "Shake the the orange bottle properly after lifting.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Lift the light and medium-sized bottle with the left arm and give it a shake.", + "Grab the smooth orange bottle and give it a shake.", + "Grab the medium bottle with colorful label using the left arm, then shake.", + "Grab the orange drink bottle with label with the left arm and shake.", + "Lift the round-bottom bottle with white cap with the left arm and shake.", + "Use the left arm to grab the grooved orange drink bottle and shake properly.", + "Hold the plastic bottle, shake it briefly.", + "Catch the plastic bottle and shake it instantly.", + "Use the left arm to hold the orange bottle and shake it.", + "Shake the medium bottle with colorful label after grabbing it.", + "Grab and shake the plastic bottle using the left arm.", + "Shake the curved orange soda bottle using the left arm after grabbing.", + "Shake the orange drink bottle with label after grabbing it.", + "Grab the orange bottle and move it to shake.", + "Hold the orange drink bottle with label and shake it properly.", + "Hold and shake the the round-bottom bottle with white cap carefully.", + "Shake the orange drink bottle with label thoroughly after grabbing it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the left arm to grab the grooved orange drink bottle and shake it.", + "Lift the light and medium-sized bottle and shake it thoroughly.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Pick the ridged orange bottle with grooves, shake it with the left arm.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Pick the bottle for holding drinks up with the left arm and shake.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Using the left arm, shake the light and medium-sized bottle and then place it back.", + "Grasp the medium bottle with colorful label with the left arm and shake it.", + "Pick up the orange drink bottle with label and shake it well.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Grab the smooth orange bottle and shake it steadily.", + "Use the left arm to lift and shake the orange bottle.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Shake the round-bottom bottle with white cap after lifting it.", + "Lift up the orange bottle using the left arm, then shake.", + "Use the left arm to pick and shake the ridged orange bottle with grooves.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Pick the light and medium-sized bottle up using the left arm and shake it.", + "Grip the orange bottle using the left arm and shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold the curved orange soda bottle with the left arm and shake lightly.", + "Lift the curved orange soda bottle with the left arm and shake it." + ], + "unseen": [ + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and give it a shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode469.json b/shake_bottle/ur5_randomized_500/instructions/episode469.json new file mode 100644 index 0000000000000000000000000000000000000000..b7e46243c5bfecb13ea0ff395df88ed45544f49f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode469.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the bottle for holding drinks and shake it.", + "Secure the ridged orange bottle with grooves and perform a shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Pick the curved orange soda bottle up with the left arm and shake.", + "Grasp the round-bottom bottle with white cap with the left arm and shake it.", + "Lift the light and medium-sized bottle and shake it thoroughly.", + "Hold the grooved orange drink bottle steady, then shake it.", + "Lift up the cylindrical orange plastic bottle using the left arm, then shake.", + "Grab the round-bottom bottle with white cap carefully and shake.", + "Lift the smooth orange bottle with the left arm and give it a shake.", + "Grab the orange bottle and give it a shake.", + "Shake the the round-bottom bottle with white cap properly after lifting.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Use the left arm to hold the plastic bottle and shake it.", + "With the left arm, pick the orange bottle and shake properly.", + "Grab and shake the round-bottom bottle with white cap using the left arm.", + "Pick up the orange drink bottle with label and shake it well.", + "Hold and shake the the curved orange soda bottle carefully.", + "Hold the orange bottle and shake it properly.", + "Take the cylindrical orange plastic bottle using the left arm and give it a shake.", + "Shake the curved orange soda bottle after grabbing it.", + "Grab the grooved orange drink bottle and move it to shake.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Use the left arm to pick and shake the cylindrical orange plastic bottle.", + "Lift the orange bottle with the left arm and shake it.", + "Grab the grooved orange drink bottle using the left arm, then shake.", + "Using the left arm, shake the bottle for holding drinks and then place it back.", + "Shake the smooth orange bottle after lifting it.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Grab the light and medium-sized bottle firmly, shake it, and put it down.", + "Shake the light and medium-sized bottle using the left arm after grabbing.", + "Secure the medium bottle with colorful label, shake it, and place it down.", + "Lift the orange bottle and shake it gently.", + "Catch the cylindrical orange plastic bottle and shake it instantly.", + "Pick the smooth orange bottle up using the left arm and shake it.", + "Grab the medium bottle with colorful label with the left arm and shake.", + "Grip the light and medium-sized bottle using the left arm and shake.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick the orange bottle, shake it with the left arm.", + "Grab the bottle for holding drinks and shake it steadily.", + "Pick up the orange bottle and shake it.", + "Lift the orange drink bottle with label with the left arm and shake.", + "Hold the curved orange soda bottle with the left arm and shake lightly.", + "Hold the light and medium-sized bottle, shake it briefly.", + "Shake the light and medium-sized bottle after holding it firmly.", + "Use the left arm to grab the round-bottom bottle with white cap and shake properly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the left arm to grab the medium bottle with colorful label and shake it.", + "Secure the round-bottom bottle with white cap and perform a shake.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Pick the round-bottom bottle with white cap up with the left arm and shake.", + "Grasp the orange drink bottle with label with the left arm and shake it.", + "Lift the orange bottle and shake it thoroughly.", + "Hold the light and medium-sized bottle steady, then shake it.", + "Lift up the smooth orange bottle using the left arm, then shake.", + "Grab the plastic bottle carefully and shake.", + "Lift the round-bottom bottle with white cap with the left arm and give it a shake.", + "Grab the bottle for holding drinks and give it a shake.", + "Shake the the cylindrical orange plastic bottle properly after lifting.", + "Shake the curved orange soda bottle after grabbing it.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Pick the ridged orange bottle with grooves and perform shaking motion.", + "Use the left arm to hold the plastic bottle and shake it.", + "With the left arm, pick the grooved orange drink bottle and shake properly.", + "Grab and shake the light and medium-sized bottle using the left arm.", + "Pick up the medium bottle with colorful label and shake it well.", + "Hold and shake the the ridged orange bottle with grooves carefully.", + "Hold the curved orange soda bottle and shake it properly.", + "Take the medium bottle with colorful label using the left arm and give it a shake.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Grab the ridged orange bottle with grooves and move it to shake.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Use the left arm to pick and shake the round-bottom bottle with white cap.", + "Lift the medium bottle with colorful label with the left arm and shake it.", + "Grab the ridged orange bottle with grooves using the left arm, then shake.", + "Using the left arm, shake the smooth orange bottle and then place it back.", + "Shake the medium bottle with colorful label after lifting it.", + "Use the left arm to lift and shake the round-bottom bottle with white cap.", + "Grab the orange drink bottle with label firmly, shake it, and put it down.", + "Shake the orange drink bottle with label using the left arm after grabbing.", + "Secure the grooved orange drink bottle, shake it, and place it down.", + "Lift the ridged orange bottle with grooves and shake it gently.", + "Catch the smooth orange bottle and shake it instantly.", + "Pick the curved orange soda bottle up using the left arm and shake it.", + "Grab the cylindrical orange plastic bottle with the left arm and shake.", + "Grip the curved orange soda bottle using the left arm and shake.", + "Shake the orange bottle after grabbing it.", + "Pick the ridged orange bottle with grooves, shake it with the left arm.", + "Grab the ridged orange bottle with grooves and shake it steadily.", + "Pick up the light and medium-sized bottle and shake it.", + "Lift the orange drink bottle with label with the left arm and shake.", + "Hold the bottle for holding drinks with the left arm and shake lightly.", + "Hold the bottle for holding drinks, shake it briefly.", + "Shake the cylindrical orange plastic bottle after holding it firmly.", + "Use the left arm to grab the round-bottom bottle with white cap and shake properly.", + "Shake the orange drink bottle with label thoroughly after grabbing it." + ], + "unseen": [ + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Grab the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the white capped orange plastic bottle and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Grab the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode47.json b/shake_bottle/ur5_randomized_500/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..9016bd49797fc60e16f447220ff2477b075c20ce --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the medium-sized orange bottle and shake properly.", + "Secure the cylindrical orange bottle with yellow top and perform a shake.", + "Lift the orange bottle with the right arm and shake.", + "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.", + "Lift the yellow-capped plastic bottle and shake it gently.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to lift and shake the bottle for liquids.", + "Hold the smooth plastic bottle, shake it briefly.", + "Shake the orange bottle after holding it firmly.", + "Grasp the orange cylindrical bottle with the right arm and shake it.", + "With the right arm, pick the yellow-capped plastic bottle and shake properly.", + "Grab the cylindrical orange bottle with yellow top carefully and shake.", + "Grab the bottle with printed label and shake it steadily.", + "Pick the bottle with yellow cap up using the right arm and shake it.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "Shake the orange bottle using the right arm after grabbing.", + "Lift the medium-sized orange bottle with the right arm and give it a shake.", + "Hold the bottle with narrow neck and shake it properly.", + "Shake the orange cylindrical bottle after grabbing it.", + "Use the right arm to pick and shake the cylindrical orange bottle with yellow top.", + "Lift the smooth plastic bottle with the right arm and shake it.", + "Pick up the bottle with narrow neck and shake it well.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Pick up the orange bottle and shake it.", + "Grab the bottle with printed label with the right arm and shake.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Grab the bottle with narrow neck using the right arm, then shake.", + "Grab the orange bottle and give it a shake.", + "Lift up the bottle with printed label using the right arm, then shake.", + "Hold the medium-sized orange bottle with the right arm and shake lightly.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.", + "Use the right arm to grab the yellow-capped plastic bottle and shake it.", + "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.", + "Shake the medium-sized orange bottle after grabbing it.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Pick the medium-sized orange bottle, shake it with the right arm.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Take the bottle with yellow cap using the right arm and give it a shake.", + "Hold and shake the the medium-sized orange bottle carefully.", + "Grab the bottle with yellow cap and move it to shake.", + "Using the right arm, shake the smooth plastic bottle and then place it back.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Grip the plastic bottle with sealed yellow cap using the right arm and shake.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Shake the the orange bottle properly after lifting.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the bottle for liquids after lifting it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Use the right arm to grab the bottle for liquids and shake properly.", + "Secure the bottle with yellow cap and perform a shake.", + "Lift the bottle for liquids with the right arm and shake.", + "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.", + "Lift the medium-sized orange bottle and shake it gently.", + "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.", + "Use the right arm to lift and shake the medium-sized orange bottle.", + "Hold the smooth plastic bottle, shake it briefly.", + "Shake the orange cylindrical bottle after holding it firmly.", + "Grasp the yellow-capped plastic bottle with the right arm and shake it.", + "With the right arm, pick the bottle with printed label and shake properly.", + "Grab the orange bottle carefully and shake.", + "Grab the yellow-capped plastic bottle and shake it steadily.", + "Pick the bottle with narrow neck up using the right arm and shake it.", + "Secure the orange bottle, shake it, and place it down.", + "Shake the bottle with printed label using the right arm after grabbing.", + "Lift the yellow-capped plastic bottle with the right arm and give it a shake.", + "Hold the plastic bottle with sealed yellow cap and shake it properly.", + "Shake the bottle with printed label after grabbing it.", + "Use the right arm to pick and shake the orange bottle.", + "Lift the plastic bottle with sealed yellow cap with the right arm and shake it.", + "Pick up the plastic bottle with sealed yellow cap and shake it well.", + "Use the right arm to hold the bottle with narrow neck and shake it.", + "Pick up the bottle with narrow neck and shake it.", + "Grab the bottle with yellow cap with the right arm and shake.", + "Shake the cylindrical orange bottle with yellow top firmly after grabbing.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Grab the cylindrical orange bottle with yellow top and give it a shake.", + "Lift up the yellow-capped plastic bottle using the right arm, then shake.", + "Hold the orange cylindrical bottle with the right arm and shake lightly.", + "Pick the bottle with narrow neck up with the right arm and shake.", + "Grab and shake the bottle with printed label using the right arm.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Use the right arm to grab the bottle with printed label and shake it.", + "Utilize the right arm to hold the bottle with printed label and shake it.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Use the right arm to lift and shake the orange cylindrical bottle.", + "Pick the orange cylindrical bottle, shake it with the right arm.", + "Shake the bottle with printed label thoroughly after grabbing it.", + "Take the bottle with narrow neck using the right arm and give it a shake.", + "Hold and shake the the plastic bottle carefully.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Using the right arm, shake the bottle with yellow cap and then place it back.", + "Catch the medium-sized orange bottle and shake it instantly.", + "Grip the yellow-capped plastic bottle using the right arm and shake.", + "Pick the bottle with yellow cap and perform shaking motion.", + "Shake the the orange bottle properly after lifting.", + "Shake the orange cylindrical bottle after grabbing it.", + "Shake the yellow-capped plastic bottle after lifting it.", + "Hold the bottle with narrow neck steady, then shake it." + ], + "unseen": [ + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the label-covered orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture with the right arm and shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the orange bottle with smooth texture and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the handheld orange bottle and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the label-covered orange bottle and shake.", + "Use the right arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick and shake the the label-covered orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it.", + "Shake the orange bottle with smooth texture after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the handheld orange bottle with the right arm.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the handheld orange bottle and shake it.", + "Use the right arm to grab the orange bottle with smooth texture and shake.", + "Use the right arm to pick the orange bottle with smooth texture.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the label-covered orange bottle and shake it.", + "Shake the handheld orange bottle after picking it with the right arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick and shake the the orange bottle with smooth texture with the right arm.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle with the right arm and shake.", + "Pick up the label-covered orange bottle and shake it.", + "Use the right arm to grab the handheld orange bottle and shake.", + "Use the right arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick up the handheld orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode470.json b/shake_bottle/ur5_randomized_500/instructions/episode470.json new file mode 100644 index 0000000000000000000000000000000000000000..15d5554aa27869b3a8c6cd0c7159dd6e84caa7ac --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode470.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle for liquids and shake properly.", + "Pick the white bottle with blue accents up with the right arm and shake.", + "Hold the blue bottle and shake it properly.", + "Utilize the right arm to hold the white bottle with blue accents and shake it.", + "Grip the cylindrical bottle using the right arm and shake.", + "Hold the bottle with blue cap, shake it briefly.", + "Catch the bottle with blue cap and shake it instantly.", + "Pick the white and blue bottle up using the right arm and shake it.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Hold the bottle for liquids with the right arm and shake lightly.", + "Shake the bottle for liquids after grabbing it.", + "Lift up the white and blue bottle using the right arm, then shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Lift the handheld bottle with the right arm and shake.", + "Pick up the cylindrical bottle and shake it well.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Hold and shake the the white bottle with blue accents carefully.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the plastic bottle and move it to shake.", + "Shake the blue bottle with label firmly after grabbing.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Pick the handheld bottle and perform shaking motion.", + "Lift the plastic bottle and shake it thoroughly.", + "Secure the white bottle with blue accents and perform a shake.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Grab the bottle for liquids and shake it steadily.", + "Use the right arm to hold the white and blue bottle and shake it.", + "Use the right arm to pick and shake the handheld bottle.", + "Shake the plastic bottle after holding it firmly.", + "Hold the smooth plastic bottle steady, then shake it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Lift the medium-sized bottle with the right arm and shake it.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Shake the the medium bottle for beverages properly after lifting.", + "Shake the blue bottle with label after grabbing it.", + "Shake the bottle for liquids after grabbing it.", + "Shake the handheld bottle after lifting it.", + "Lift the cylindrical bottle and shake it gently.", + "Grab and shake the medium-sized bottle using the right arm.", + "Grab the blue bottle with label carefully and shake.", + "Take the cylindrical bottle using the right arm and give it a shake.", + "Grab the white bottle with blue accents and give it a shake.", + "Using the right arm, shake the blue bottle with label and then place it back.", + "Grab the smooth plastic bottle with the right arm and shake.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Pick up the blue bottle with label and shake it.", + "Use the right arm to grab the medium-sized bottle and shake properly.", + "Pick the bottle for liquids up with the right arm and shake.", + "Hold the bottle with blue cap and shake it properly.", + "Utilize the right arm to hold the medium-sized bottle and shake it.", + "Grip the blue bottle using the right arm and shake.", + "Hold the smooth plastic bottle, shake it briefly.", + "Catch the plastic bottle and shake it instantly.", + "Pick the blue bottle up using the right arm and shake it.", + "Grab the medium bottle for beverages firmly, shake it, and put it down.", + "Hold the blue bottle with label with the right arm and shake lightly.", + "Shake the blue bottle with label after grabbing it.", + "Lift up the medium bottle for beverages using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with blue cap.", + "Lift the cylindrical bottle with the right arm and shake.", + "Pick up the plastic bottle and shake it well.", + "Use the right arm to lift and shake the bottle for liquids.", + "Hold and shake the the medium-sized bottle carefully.", + "Secure the blue bottle with label, shake it, and place it down.", + "Grab the smooth plastic bottle and move it to shake.", + "Shake the blue bottle firmly after grabbing.", + "Grab the white and blue bottle using the right arm, then shake.", + "Pick the blue bottle and perform shaking motion.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Secure the bottle for liquids and perform a shake.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Grab the smooth plastic bottle and shake it steadily.", + "Use the right arm to hold the blue bottle and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Shake the medium bottle for beverages after holding it firmly.", + "Hold the smooth plastic bottle steady, then shake it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Lift the medium bottle for beverages with the right arm and shake it.", + "With the right arm, pick the handheld bottle and shake properly.", + "Shake the the cylindrical bottle properly after lifting.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the blue bottle with label after lifting it.", + "Lift the bottle for liquids and shake it gently.", + "Grab and shake the plastic bottle using the right arm.", + "Grab the smooth plastic bottle carefully and shake.", + "Take the medium bottle for beverages using the right arm and give it a shake.", + "Grab the bottle with blue cap and give it a shake.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Grab the plastic bottle with the right arm and shake.", + "Pick the white bottle with blue accents, shake it with the right arm.", + "Shake the white bottle with blue accents using the right arm after grabbing.", + "Use the right arm to grab the cylindrical bottle and shake it.", + "Pick up the white and blue bottle and shake it." + ], + "unseen": [ + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Use the right arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick and shake the the bottle with ridged neck with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode471.json b/shake_bottle/ur5_randomized_500/instructions/episode471.json new file mode 100644 index 0000000000000000000000000000000000000000..3f223fd2b20cc7ba644fea8afeb754f6f6d07d46 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode471.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the smooth green plastic bottle carefully.", + "Secure the bottle with narrow top and perform a shake.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Pick the medium green bottle up using the left arm and shake it.", + "Lift up the medium green bottle using the left arm, then shake.", + "Grab the bottle with narrow top and give it a shake.", + "Catch the bottle with narrow top and shake it instantly.", + "Pick up the bottle with white printed label and shake it.", + "Lift the plastic bottle with the left arm and shake it.", + "Grab the bottle with white printed label with the left arm and shake.", + "Shake the the bottle with narrow top properly after lifting.", + "Grab the bottle with narrow top and move it to shake.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Shake the green bottle with indented base after grabbing it.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Pick up the medium-sized green bottle and shake it well.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Hold the bottle with narrow top steady, then shake it.", + "Shake the medium green bottle after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Grab the medium-sized green bottle carefully and shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Shake the bottle with white printed label after lifting it.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Use the left arm to lift and shake the handheld green bottle.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Shake the green bottle with indented base after holding it firmly.", + "Lift the smooth green bottle with the left arm and shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to grab the medium green bottle and shake it.", + "Grab and shake the bottle with narrow top using the left arm.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Pick the handheld green bottle up with the left arm and shake.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Lift the smooth green plastic bottle and shake it gently.", + "Lift the smooth green bottle and shake it thoroughly.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Grab the medium green bottle and give it a shake.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Pick up the bottle with rounded neck and shake it.", + "Lift the medium green bottle with the left arm and shake it.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Shake the the medium green bottle properly after lifting.", + "Grab the bottle with ridges near base and move it to shake.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Shake the bottle with white printed label after grabbing it.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Pick up the handheld green bottle and shake it well.", + "Pick the smooth green bottle, shake it with the left arm.", + "Hold the medium green bottle steady, then shake it.", + "Shake the medium green bottle after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Grab the handheld green bottle carefully and shake.", + "Hold the medium-sized green bottle, shake it briefly.", + "Shake the bottle with rounded neck after lifting it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Hold the bottle with ridges near base and shake it properly.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Lift the handheld green bottle with the left arm and shake.", + "Secure the handheld green bottle, shake it, and place it down.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Grab and shake the bottle with white printed label using the left arm.", + "Use the left arm to hold the medium green bottle and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Lift the smooth green plastic bottle and shake it gently.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab the handheld green bottle using the left arm, then shake.", + "Grip the smooth green bottle using the left arm and shake." + ], + "unseen": [ + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode472.json b/shake_bottle/ur5_randomized_500/instructions/episode472.json new file mode 100644 index 0000000000000000000000000000000000000000..8a6c4f32a6be23e1e52b2a09a9a402c77f69466c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode472.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the small drink bottle with logo using the left arm and shake.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Grab the bottle with tapered cylindrical shape with the left arm and shake.", + "Pick the brown bottle with green screw-on cap and perform shaking motion.", + "Hold the bottle with green cap with the left arm and shake lightly.", + "Pick up the plastic bottle with ribbed pattern and shake it.", + "Use the left arm to hold the green-capped bottle and shake it.", + "Using the left arm, shake the small brown plastic bottle and then place it back.", + "Shake the brown bottle with green screw-on cap firmly after grabbing.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Shake the green-capped bottle after holding it firmly.", + "Shake the green-capped bottle after grabbing it.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Lift the bottle with green cap with the left arm and shake it.", + "Hold and shake the the plastic bottle with ribbed pattern carefully.", + "Hold the brown bottle steady, then shake it.", + "Shake the brown bottle using the left arm after grabbing.", + "Grab the brown bottle with white printed label and move it to shake.", + "Grab the brown bottle with white printed label and shake it steadily.", + "Pick the cylindrical bottle with white label up with the left arm and shake.", + "Lift the small brown plastic bottle with the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle with ribbed pattern and shake properly.", + "Secure the small brown plastic bottle, shake it, and place it down.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Shake the cylindrical bottle with white label after lifting it.", + "Use the left arm to pick and shake the brown bottle.", + "Lift up the plastic bottle with ribbed pattern using the left arm, then shake.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Lift the smooth plastic bottle for beverages and shake it thoroughly.", + "Pick up the smooth plastic bottle for beverages and shake it well.", + "Utilize the left arm to hold the small brown plastic bottle and shake it.", + "Lift the small brown plastic bottle with the left arm and shake.", + "Lift the green-capped bottle and shake it gently.", + "Secure the green-capped bottle and perform a shake.", + "Grab the bottle with green cap and give it a shake.", + "Grasp the plastic bottle with ribbed pattern with the left arm and shake it.", + "Grab and shake the brown bottle with green screw-on cap using the left arm.", + "Take the bottle with tapered cylindrical shape using the left arm and give it a shake.", + "Grab the small drink bottle with logo carefully and shake.", + "Shake the the green-capped bottle properly after lifting.", + "Hold the hand-sized bottle with grooves, shake it briefly.", + "Grab the brown bottle with white printed label using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with green cap.", + "Pick the smooth plastic bottle for beverages, shake it with the left arm.", + "Use the left arm to grab the smooth plastic bottle for beverages and shake it.", + "Pick the hand-sized bottle with grooves up using the left arm and shake it.", + "Grab the small drink bottle with logo firmly, shake it, and put it down.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "With the left arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Grip the brown bottle with green screw-on cap using the left arm and shake.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Grab the hand-sized bottle with grooves with the left arm and shake.", + "Pick the brown bottle and perform shaking motion.", + "Hold the brown bottle with the left arm and shake lightly.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Use the left arm to hold the small brown plastic bottle and shake it.", + "Using the left arm, shake the bottle with tapered cylindrical shape and then place it back.", + "Shake the brown bottle with green screw-on cap firmly after grabbing.", + "Catch the brown bottle with green screw-on cap and shake it instantly.", + "Shake the small brown plastic bottle after holding it firmly.", + "Shake the bottle with green cap after grabbing it.", + "Shake the hand-sized bottle with grooves thoroughly after grabbing it.", + "Lift the cylindrical bottle with white label with the left arm and shake it.", + "Hold and shake the the cylindrical bottle with white label carefully.", + "Hold the bottle with green cap steady, then shake it.", + "Shake the hand-sized bottle with grooves using the left arm after grabbing.", + "Grab the brown bottle and move it to shake.", + "Grab the brown bottle with white printed label and shake it steadily.", + "Pick the smooth plastic bottle for beverages up with the left arm and shake.", + "Lift the brown bottle with the left arm and give it a shake.", + "Use the left arm to grab the brown bottle and shake properly.", + "Secure the bottle with green cap, shake it, and place it down.", + "Shake the small drink bottle with logo after grabbing it.", + "Shake the cylindrical bottle with white label after lifting it.", + "Use the left arm to pick and shake the smooth plastic bottle for beverages.", + "Lift up the green-capped bottle using the left arm, then shake.", + "Use the left arm to lift and shake the green-capped bottle.", + "Lift the cylindrical bottle with white label and shake it thoroughly.", + "Pick up the bottle with green cap and shake it well.", + "Utilize the left arm to hold the green-capped bottle and shake it.", + "Lift the smooth plastic bottle for beverages with the left arm and shake.", + "Lift the brown bottle and shake it gently.", + "Secure the brown bottle with white printed label and perform a shake.", + "Grab the plastic bottle with ribbed pattern and give it a shake.", + "Grasp the bottle with green cap with the left arm and shake it.", + "Grab and shake the brown bottle with green screw-on cap using the left arm.", + "Take the brown bottle with white printed label using the left arm and give it a shake.", + "Grab the green-capped bottle carefully and shake.", + "Shake the the bottle with tapered cylindrical shape properly after lifting.", + "Hold the cylindrical bottle with white label, shake it briefly.", + "Grab the bottle with green cap using the left arm, then shake.", + "Use the left arm to lift and shake the small drink bottle with logo.", + "Pick the bottle with green cap, shake it with the left arm.", + "Use the left arm to grab the brown bottle with green screw-on cap and shake it.", + "Pick the small brown plastic bottle up using the left arm and shake it.", + "Grab the small drink bottle with logo firmly, shake it, and put it down.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "With the left arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Use the left arm to lift and shake the green-capped bottle." + ], + "unseen": [ + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Pick up the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode473.json b/shake_bottle/ur5_randomized_500/instructions/episode473.json new file mode 100644 index 0000000000000000000000000000000000000000..42f5453f62c67e6b80c8d459771f841d25b8f479 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode473.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with green cap carefully and shake.", + "Shake the plastic bottle with ribbed pattern firmly after grabbing.", + "Shake the brown bottle after lifting it.", + "Shake the small brown plastic bottle using the right arm after grabbing.", + "Pick the brown bottle with white printed label up with the right arm and shake.", + "Grab the cylindrical bottle with white label and give it a shake.", + "Use the right arm to grab the small brown plastic bottle and shake it.", + "Lift the plastic bottle with ribbed pattern and shake it gently.", + "Grab the small brown plastic bottle and shake it steadily.", + "Use the right arm to lift and shake the green-capped bottle.", + "Shake the brown bottle with white printed label after grabbing it.", + "Lift the plastic bottle with ribbed pattern with the right arm and shake it.", + "Lift up the cylindrical bottle with white label using the right arm, then shake.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Pick the bottle with tapered cylindrical shape up using the right arm and shake it.", + "Lift the small drink bottle with logo with the right arm and give it a shake.", + "Lift the brown bottle with white printed label with the right arm and shake.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Use the right arm to grab the green-capped bottle and shake properly.", + "Shake the the smooth plastic bottle for beverages properly after lifting.", + "Grip the hand-sized bottle with grooves using the right arm and shake.", + "Hold the bottle with tapered cylindrical shape steady, then shake it.", + "Secure the bottle with green cap and perform a shake.", + "Shake the small drink bottle with logo after grabbing it.", + "Catch the bottle with tapered cylindrical shape and shake it instantly.", + "Hold the small brown plastic bottle, shake it briefly.", + "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.", + "Using the right arm, shake the bottle with tapered cylindrical shape and then place it back.", + "Use the right arm to pick and shake the bottle with green cap.", + "Shake the small brown plastic bottle after holding it firmly.", + "Grab the small brown plastic bottle and move it to shake.", + "Hold and shake the the smooth plastic bottle for beverages carefully.", + "Pick the cylindrical bottle with white label and perform shaking motion.", + "Pick the bottle with tapered cylindrical shape, shake it with the right arm.", + "Pick up the brown bottle and shake it.", + "Take the brown bottle with green screw-on cap using the right arm and give it a shake.", + "Grab the hand-sized bottle with grooves with the right arm and shake.", + "Grab the hand-sized bottle with grooves using the right arm, then shake.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Hold the green-capped bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the bottle with green cap and shake it.", + "Secure the bottle with green cap, shake it, and place it down.", + "Pick up the plastic bottle with ribbed pattern and shake it well.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Grab and shake the small brown plastic bottle using the right arm.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "With the right arm, pick the brown bottle and shake properly.", + "Grasp the bottle with green cap with the right arm and shake it.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Lift the smooth plastic bottle for beverages and shake it thoroughly.", + "Grab the brown bottle with green screw-on cap carefully and shake.", + "Shake the plastic bottle with ribbed pattern firmly after grabbing.", + "Shake the smooth plastic bottle for beverages after lifting it.", + "Shake the hand-sized bottle with grooves using the right arm after grabbing.", + "Pick the small brown plastic bottle up with the right arm and shake.", + "Grab the small brown plastic bottle and give it a shake.", + "Use the right arm to grab the brown bottle with white printed label and shake it.", + "Lift the brown bottle and shake it gently.", + "Grab the smooth plastic bottle for beverages and shake it steadily.", + "Use the right arm to lift and shake the hand-sized bottle with grooves.", + "Shake the small brown plastic bottle after grabbing it.", + "Lift the cylindrical bottle with white label with the right arm and shake it.", + "Lift up the brown bottle using the right arm, then shake.", + "Use the right arm to hold the smooth plastic bottle for beverages and shake it.", + "Pick the cylindrical bottle with white label up using the right arm and shake it.", + "Lift the hand-sized bottle with grooves with the right arm and give it a shake.", + "Lift the brown bottle with green screw-on cap with the right arm and shake.", + "Shake the green-capped bottle after grabbing it.", + "Use the right arm to grab the hand-sized bottle with grooves and shake properly.", + "Shake the the brown bottle properly after lifting.", + "Grip the bottle with tapered cylindrical shape using the right arm and shake.", + "Hold the green-capped bottle steady, then shake it.", + "Secure the brown bottle with green screw-on cap and perform a shake.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Hold the hand-sized bottle with grooves, shake it briefly.", + "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.", + "Using the right arm, shake the small brown plastic bottle and then place it back.", + "Use the right arm to pick and shake the smooth plastic bottle for beverages.", + "Shake the brown bottle with white printed label after holding it firmly.", + "Grab the plastic bottle with ribbed pattern and move it to shake.", + "Hold and shake the the hand-sized bottle with grooves carefully.", + "Pick the plastic bottle with ribbed pattern and perform shaking motion.", + "Pick the brown bottle with green screw-on cap, shake it with the right arm.", + "Pick up the bottle with tapered cylindrical shape and shake it.", + "Take the smooth plastic bottle for beverages using the right arm and give it a shake.", + "Grab the small brown plastic bottle with the right arm and shake.", + "Grab the small drink bottle with logo using the right arm, then shake.", + "Shake the plastic bottle with ribbed pattern thoroughly after grabbing it.", + "Hold the brown bottle with white printed label with the right arm and shake lightly.", + "Utilize the right arm to hold the smooth plastic bottle for beverages and shake it.", + "Secure the cylindrical bottle with white label, shake it, and place it down.", + "Pick up the brown bottle and shake it well.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Grab and shake the bottle with tapered cylindrical shape using the right arm.", + "Hold the green-capped bottle and shake it properly.", + "With the right arm, pick the small drink bottle with logo and shake properly.", + "Grasp the cylindrical bottle with white label with the right arm and shake it.", + "Use the right arm to lift and shake the smooth plastic bottle for beverages.", + "Lift the brown bottle with green screw-on cap and shake it thoroughly." + ], + "unseen": [ + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Grab the bottle with coffee-colored body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode474.json b/shake_bottle/ur5_randomized_500/instructions/episode474.json new file mode 100644 index 0000000000000000000000000000000000000000..c92861d9f78c77bb00dfd8bed7471c4f5150d847 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode474.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the medium orange bottle and perform shaking motion.", + "Lift the medium bottle with orange lid and shake it thoroughly.", + "Use the left arm to grab the white and orange plastic bottle and shake properly.", + "Take the smooth plastic bottle using the left arm and give it a shake.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Use the left arm to lift and shake the yellow label bottle.", + "Grab the orange bottle carefully and shake.", + "Grab and shake the medium bottle with orange lid using the left arm.", + "Shake the cylindrical orange and white bottle thoroughly after grabbing it.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Use the left arm to pick and shake the orange and white bottle with cap.", + "Secure the orange and white bottle with cap, shake it, and place it down.", + "With the left arm, pick the orange and white bottle with cap and shake properly.", + "Hold the bottle with orange cap, shake it briefly.", + "Shake the smooth plastic bottle after holding it firmly.", + "Hold and shake the the white and orange plastic bottle carefully.", + "Hold the yellow label bottle with the left arm and shake lightly.", + "Hold the medium bottle with orange lid and shake it properly.", + "Use the left arm to grab the drinking bottle with yellow label and shake it.", + "Using the left arm, shake the orange bottle and then place it back.", + "Shake the orange and white bottle with cap firmly after grabbing.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Pick the yellow label bottle up using the left arm and shake it.", + "Grasp the yellow label bottle with the left arm and shake it.", + "Lift the orange bottle with the left arm and give it a shake.", + "Pick up the plastic bottle and shake it.", + "Lift up the bottle with orange cap using the left arm, then shake.", + "Lift the plastic bottle and shake it gently.", + "Grab the white and orange plastic bottle and shake it steadily.", + "Pick the yellow label bottle, shake it with the left arm.", + "Secure the medium orange bottle and perform a shake.", + "Shake the medium bottle with orange lid using the left arm after grabbing.", + "Grab the cylindrical orange and white bottle with the left arm and shake.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Shake the smooth plastic bottle after lifting it.", + "Use the left arm to hold the orange bottle and shake it.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Shake the white and orange plastic bottle after grabbing it.", + "Shake the orange and white bottle with cap after grabbing it.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Grab the drinking bottle with yellow label using the left arm, then shake.", + "Grip the plastic bottle using the left arm and shake.", + "Pick the white and orange plastic bottle up with the left arm and shake.", + "Pick up the smooth plastic bottle and shake it well.", + "Shake the the white and orange plastic bottle properly after lifting.", + "Utilize the left arm to hold the drinking bottle with yellow label and shake it.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Lift the bottle with ribbed orange bottom with the left arm and shake.", + "Pick the cylindrical orange and white bottle and perform shaking motion.", + "Lift the bottle with ribbed orange bottom and shake it thoroughly.", + "Use the left arm to grab the medium bottle with orange lid and shake properly.", + "Take the cylindrical orange and white bottle using the left arm and give it a shake.", + "Grab the medium bottle with orange lid and move it to shake.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Grab the drinking bottle with yellow label carefully and shake.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Shake the orange bottle thoroughly after grabbing it.", + "Catch the bottle with orange cap and shake it instantly.", + "Use the left arm to pick and shake the orange and white bottle with cap.", + "Secure the bottle with ribbed orange bottom, shake it, and place it down.", + "With the left arm, pick the medium bottle with orange lid and shake properly.", + "Hold the medium bottle with orange lid, shake it briefly.", + "Shake the smooth plastic bottle after holding it firmly.", + "Hold and shake the the drinking bottle with yellow label carefully.", + "Hold the yellow label bottle with the left arm and shake lightly.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to grab the medium bottle with orange lid and shake it.", + "Using the left arm, shake the orange bottle and then place it back.", + "Shake the yellow label bottle firmly after grabbing.", + "Grab the orange and white bottle with cap firmly, shake it, and put it down.", + "Pick the bottle with ribbed orange bottom up using the left arm and shake it.", + "Grasp the orange and white bottle with cap with the left arm and shake it.", + "Lift the yellow label bottle with the left arm and give it a shake.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Lift up the bottle with ribbed orange bottom using the left arm, then shake.", + "Lift the bottle with orange cap and shake it gently.", + "Grab the smooth plastic bottle and shake it steadily.", + "Pick the orange bottle, shake it with the left arm.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Shake the yellow label bottle using the left arm after grabbing.", + "Grab the plastic bottle with the left arm and shake.", + "Hold the smooth plastic bottle steady, then shake it.", + "Shake the drinking bottle with yellow label after lifting it.", + "Use the left arm to hold the smooth plastic bottle and shake it.", + "Lift the yellow label bottle with the left arm and shake it.", + "Shake the white and orange plastic bottle after grabbing it.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Shake the medium orange bottle after grabbing it.", + "Use the left arm to lift and shake the cylindrical orange and white bottle.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Grab the white and orange plastic bottle using the left arm, then shake.", + "Grip the bottle with orange cap using the left arm and shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Pick up the yellow label bottle and shake it well.", + "Shake the the smooth plastic bottle properly after lifting.", + "Utilize the left arm to hold the smooth plastic bottle and shake it.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Lift the medium bottle with orange lid with the left arm and shake." + ], + "unseen": [ + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with curved body and shake.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Grab the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body with the left arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with curved body and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode475.json b/shake_bottle/ur5_randomized_500/instructions/episode475.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f6a444c0bd9c14b6990d944d786115c8dd84ba --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode475.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Shake the bottle with yellow cap after holding it firmly.", + "Grab the plastic bottle with sealed yellow cap with the left arm and shake.", + "Hold the plastic bottle with sealed yellow cap with the left arm and shake lightly.", + "Catch the orange cylindrical bottle and shake it instantly.", + "Pick the bottle for liquids, shake it with the left arm.", + "Grab the bottle with printed label and shake it steadily.", + "Use the left arm to lift and shake the yellow-capped plastic bottle.", + "Use the left arm to grab the bottle with printed label and shake properly.", + "Shake the orange cylindrical bottle after grabbing it.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Grab the bottle with narrow neck and give it a shake.", + "Grab the orange cylindrical bottle using the left arm, then shake.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Lift up the medium-sized orange bottle using the left arm, then shake.", + "Grasp the orange bottle with the left arm and shake it.", + "Use the left arm to hold the orange cylindrical bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Use the left arm to pick and shake the cylindrical orange bottle with yellow top.", + "Lift the bottle with narrow neck and shake it thoroughly.", + "Shake the yellow-capped plastic bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with printed label.", + "Hold the plastic bottle and shake it properly.", + "Shake the bottle for liquids after lifting it.", + "Pick up the orange bottle and shake it.", + "Grab the orange cylindrical bottle carefully and shake.", + "Lift the bottle with narrow neck and shake it gently.", + "Hold the orange bottle steady, then shake it.", + "Lift the plastic bottle with sealed yellow cap with the left arm and give it a shake.", + "Pick up the orange bottle and shake it well.", + "Utilize the left arm to hold the bottle with printed label and shake it.", + "Hold and shake the the plastic bottle with sealed yellow cap carefully.", + "Shake the orange bottle after grabbing it.", + "Grab and shake the bottle for liquids using the left arm.", + "Grip the orange bottle using the left arm and shake.", + "Secure the orange bottle and perform a shake.", + "Grab the bottle with printed label and move it to shake.", + "Shake the the bottle with narrow neck properly after lifting.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Take the yellow-capped plastic bottle using the left arm and give it a shake.", + "Pick the plastic bottle with sealed yellow cap up with the left arm and shake.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "With the left arm, pick the medium-sized orange bottle and shake properly.", + "Lift the bottle for liquids with the left arm and shake.", + "Lift the bottle with narrow neck with the left arm and shake it.", + "Hold the yellow-capped plastic bottle, shake it briefly.", + "Shake the orange bottle after grabbing it.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Shake the plastic bottle after holding it firmly.", + "Grab the yellow-capped plastic bottle with the left arm and shake.", + "Hold the orange cylindrical bottle with the left arm and shake lightly.", + "Catch the cylindrical orange bottle with yellow top and shake it instantly.", + "Pick the bottle with yellow cap, shake it with the left arm.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Use the left arm to grab the orange bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Grab the bottle with printed label and give it a shake.", + "Grab the cylindrical orange bottle with yellow top using the left arm, then shake.", + "Secure the orange bottle, shake it, and place it down.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Lift up the bottle with yellow cap using the left arm, then shake.", + "Grasp the plastic bottle with the left arm and shake it.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Use the left arm to pick and shake the bottle with narrow neck.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Shake the bottle with yellow cap using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle for liquids.", + "Hold the plastic bottle with sealed yellow cap and shake it properly.", + "Shake the smooth plastic bottle after lifting it.", + "Pick up the bottle with yellow cap and shake it.", + "Grab the bottle with yellow cap carefully and shake.", + "Lift the bottle for liquids and shake it gently.", + "Hold the plastic bottle steady, then shake it.", + "Lift the bottle with yellow cap with the left arm and give it a shake.", + "Pick up the orange cylindrical bottle and shake it well.", + "Utilize the left arm to hold the bottle with narrow neck and shake it.", + "Hold and shake the the bottle for liquids carefully.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Grab and shake the medium-sized orange bottle using the left arm.", + "Grip the bottle with printed label using the left arm and shake.", + "Secure the bottle with printed label and perform a shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Shake the the orange cylindrical bottle properly after lifting.", + "Pick the plastic bottle up using the left arm and shake it.", + "Take the cylindrical orange bottle with yellow top using the left arm and give it a shake.", + "Pick the cylindrical orange bottle with yellow top up with the left arm and shake.", + "Pick the plastic bottle and perform shaking motion.", + "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.", + "Lift the bottle with printed label with the left arm and shake.", + "Lift the orange cylindrical bottle with the left arm and shake it.", + "Hold the bottle with narrow neck, shake it briefly.", + "Shake the orange cylindrical bottle after grabbing it.", + "Use the left arm to grab the yellow-capped plastic bottle and shake it.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing." + ], + "unseen": [ + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode476.json b/shake_bottle/ur5_randomized_500/instructions/episode476.json new file mode 100644 index 0000000000000000000000000000000000000000..ed5aa9ae1e1c09ea4ea20bacdd44058dec5623fa --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode476.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle and shake it steadily.", + "Shake the plastic bottle after holding it firmly.", + "Catch the grooved orange drink bottle and shake it instantly.", + "Pick the round-bottom bottle with white cap up with the left arm and shake.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Lift the curved orange soda bottle and shake it gently.", + "Hold the curved orange soda bottle steady, then shake it.", + "Shake the the grooved orange drink bottle properly after lifting.", + "Pick up the plastic bottle and shake it.", + "Pick the round-bottom bottle with white cap, shake it with the left arm.", + "Grab the medium bottle with colorful label firmly, shake it, and put it down.", + "Hold and shake the the cylindrical orange plastic bottle carefully.", + "Use the left arm to grab the grooved orange drink bottle and shake properly.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Use the left arm to pick and shake the orange bottle.", + "Grab the round-bottom bottle with white cap using the left arm, then shake.", + "Shake the bottle for holding drinks firmly after grabbing.", + "Secure the orange drink bottle with label and perform a shake.", + "Hold the grooved orange drink bottle and shake it properly.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Grab the smooth orange bottle with the left arm and shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the bottle for holding drinks after grabbing it.", + "Lift the curved orange soda bottle with the left arm and shake.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Use the left arm to grab the smooth orange bottle and shake it.", + "Grip the curved orange soda bottle using the left arm and shake.", + "Take the curved orange soda bottle using the left arm and give it a shake.", + "Shake the curved orange soda bottle after lifting it.", + "Utilize the left arm to hold the medium bottle with colorful label and shake it.", + "Grab the curved orange soda bottle and give it a shake.", + "Use the left arm to hold the grooved orange drink bottle and shake it.", + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Secure the light and medium-sized bottle, shake it, and place it down.", + "Grasp the ridged orange bottle with grooves with the left arm and shake it.", + "Grab and shake the light and medium-sized bottle using the left arm.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the bottle for holding drinks using the left arm after grabbing.", + "Using the left arm, shake the medium bottle with colorful label and then place it back.", + "With the left arm, pick the curved orange soda bottle and shake properly.", + "Shake the bottle for holding drinks after grabbing it.", + "Pick the medium bottle with colorful label up using the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Pick up the curved orange soda bottle and shake it well.", + "Hold the orange drink bottle with label with the left arm and shake lightly.", + "Lift up the medium bottle with colorful label using the left arm, then shake.", + "Lift the cylindrical orange plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Pick the bottle for holding drinks and perform shaking motion.", + "Grab the orange drink bottle with label and shake it steadily.", + "Shake the smooth orange bottle after holding it firmly.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Pick the cylindrical orange plastic bottle up with the left arm and shake.", + "Shake the ridged orange bottle with grooves thoroughly after grabbing it.", + "Lift the curved orange soda bottle and shake it gently.", + "Hold the bottle for holding drinks steady, then shake it.", + "Shake the the plastic bottle properly after lifting.", + "Pick up the curved orange soda bottle and shake it.", + "Pick the cylindrical orange plastic bottle, shake it with the left arm.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold and shake the the orange bottle carefully.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Shake the bottle for holding drinks after grabbing it.", + "Use the left arm to pick and shake the grooved orange drink bottle.", + "Grab the grooved orange drink bottle using the left arm, then shake.", + "Shake the smooth orange bottle firmly after grabbing.", + "Secure the plastic bottle and perform a shake.", + "Hold the ridged orange bottle with grooves and shake it properly.", + "Hold the grooved orange drink bottle, shake it briefly.", + "Grab the light and medium-sized bottle with the left arm and shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the light and medium-sized bottle after grabbing it.", + "Lift the ridged orange bottle with grooves with the left arm and shake.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Use the left arm to grab the orange bottle and shake it.", + "Grip the smooth orange bottle using the left arm and shake.", + "Take the bottle for holding drinks using the left arm and give it a shake.", + "Shake the orange bottle after lifting it.", + "Utilize the left arm to hold the orange drink bottle with label and shake it.", + "Grab the medium bottle with colorful label and give it a shake.", + "Use the left arm to hold the orange drink bottle with label and shake it.", + "Grab the bottle for holding drinks carefully and shake.", + "Secure the orange bottle, shake it, and place it down.", + "Grasp the round-bottom bottle with white cap with the left arm and shake it.", + "Grab and shake the bottle for holding drinks using the left arm.", + "Lift the orange bottle with the left arm and give it a shake.", + "Shake the bottle for holding drinks using the left arm after grabbing.", + "Using the left arm, shake the plastic bottle and then place it back.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Pick the orange drink bottle with label up using the left arm and shake it.", + "Use the left arm to lift and shake the medium bottle with colorful label.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Pick up the smooth orange bottle and shake it well.", + "Hold the curved orange soda bottle with the left arm and shake lightly.", + "Lift up the plastic bottle using the left arm, then shake.", + "Lift the orange bottle and shake it thoroughly.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Pick the orange bottle and perform shaking motion." + ], + "unseen": [ + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode477.json b/shake_bottle/ur5_randomized_500/instructions/episode477.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b1650039c15b7f88b635835b6b0325b705d5ff --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode477.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the long thin bottle using the left arm, then shake.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Shake the the long thin bottle properly after lifting.", + "Pick the red-capped bottle up with the left arm and shake.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the long thin bottle after grabbing it.", + "Secure the narrow-necked bottle and perform a shake.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Lift the medium dark brown bottle and shake it gently.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Pick up the red-capped bottle and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Hold and shake the the long thin bottle carefully.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the long thin bottle after lifting it.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Grab the narrow-necked bottle carefully and shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Grab the red-capped bottle and shake it steadily.", + "Grab the dark drink bottle with logo and give it a shake.", + "Hold the red-capped bottle and shake it properly.", + "Use the left arm to hold the long thin bottle and shake it.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Grab the long thin bottle using the left arm, then shake.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Catch the medium dark brown bottle and shake it instantly.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Pick up the dark drink bottle with logo and shake it well.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the brown bottle with red label after grabbing it.", + "Secure the narrow-necked bottle and perform a shake.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Grab and shake the long thin bottle using the left arm.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Lift the smooth bottle with red lid and shake it gently.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Grab the plastic drink bottle and move it to shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Grab the brown bottle with red label with the left arm and shake.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Pick up the hand-sized soda bottle and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Use the left arm to lift and shake the red-capped bottle.", + "Shake the narrow-necked bottle after lifting it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Grab the smooth bottle with red lid carefully and shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grab the red-capped bottle and give it a shake.", + "Hold the narrow-necked bottle and shake it properly.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Take the long thin bottle using the left arm and give it a shake.", + "Hold the Coca-Cola bottle with the left arm and shake lightly." + ], + "unseen": [ + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode478.json b/shake_bottle/ur5_randomized_500/instructions/episode478.json new file mode 100644 index 0000000000000000000000000000000000000000..32b83f70a57df9ed630235c103223a3b7d6c6cab --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode478.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow bottle for liquid storage with the right arm and shake.", + "Grab and shake the medium-sized bottle using the right arm.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the medium plastic bottle with cap up using the right arm and shake it.", + "Grab the yellow bottle for liquid storage carefully and shake.", + "Utilize the right arm to hold the medium plastic bottle with cap and shake it.", + "Lift the yellow bottle with blue label and shake it thoroughly.", + "Grab the medium plastic bottle with cap using the right arm, then shake.", + "Use the right arm to grab the yellow bottle with blue label and shake it.", + "Pick up the handheld curvy bottle and shake it.", + "Hold and shake the the plastic bottle with curved sides carefully.", + "Hold the bottle for liquid with the right arm and shake lightly.", + "Grab the yellow bottle with dark label and shake it steadily.", + "Pick the yellow bottle for liquid storage and perform shaking motion.", + "Secure the yellow bottle with blue label, shake it, and place it down.", + "Use the right arm to grab the yellow bottle for liquid storage and shake properly.", + "Pick the bottle for liquid, shake it with the right arm.", + "Shake the bottle with screw cap using the right arm after grabbing.", + "Shake the plastic bottle with curved sides after grabbing it.", + "Shake the smooth plastic bottle after holding it firmly.", + "Grab the yellow bottle with blue label with the right arm and shake.", + "Hold the plastic bottle, shake it briefly.", + "Lift the yellow bottle with the right arm and shake it.", + "Shake the the bottle for liquid properly after lifting.", + "Pick up the medium-sized bottle and shake it well.", + "Shake the yellow bottle with blue label after lifting it.", + "Use the right arm to hold the yellow bottle with blue label and shake it.", + "Secure the bottle with screw cap and perform a shake.", + "Grab the medium-sized bottle and give it a shake.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "Lift the yellow bottle for liquid storage with the right arm and give it a shake.", + "Pick the yellow bottle for liquid storage up with the right arm and shake.", + "Catch the yellow bottle with dark label and shake it instantly.", + "Using the right arm, shake the yellow bottle with dark label and then place it back.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold the medium plastic bottle with cap steady, then shake it.", + "Grab the yellow bottle and move it to shake.", + "Shake the medium-sized bottle after grabbing it.", + "Grasp the handheld curvy bottle with the right arm and shake it.", + "Lift up the yellow bottle with dark label using the right arm, then shake.", + "Use the right arm to pick and shake the bottle with screw cap.", + "Shake the yellow bottle after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to lift and shake the medium plastic bottle with cap.", + "With the right arm, pick the yellow bottle for liquid storage and shake properly.", + "Hold the smooth plastic bottle and shake it properly.", + "Lift the yellow bottle with dark label and shake it gently.", + "Take the medium-sized bottle using the right arm and give it a shake.", + "Shake the bottle for liquid thoroughly after grabbing it.", + "Lift the medium-sized bottle with the right arm and shake.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Grip the handheld curvy bottle using the right arm and shake.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Pick the medium plastic bottle with cap up using the right arm and shake it.", + "Grab the yellow bottle carefully and shake.", + "Utilize the right arm to hold the medium plastic bottle with cap and shake it.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Grab the plastic bottle using the right arm, then shake.", + "Use the right arm to grab the plastic bottle and shake it.", + "Pick up the medium-sized bottle and shake it.", + "Hold and shake the the handheld curvy bottle carefully.", + "Hold the medium-sized bottle with the right arm and shake lightly.", + "Grab the bottle for liquid and shake it steadily.", + "Pick the medium-sized bottle and perform shaking motion.", + "Secure the yellow bottle with blue label, shake it, and place it down.", + "Use the right arm to grab the yellow bottle with blue label and shake properly.", + "Pick the plastic bottle with curved sides, shake it with the right arm.", + "Shake the yellow bottle for liquid storage using the right arm after grabbing.", + "Shake the bottle for liquid after grabbing it.", + "Shake the bottle with screw cap after holding it firmly.", + "Grab the bottle for liquid with the right arm and shake.", + "Hold the yellow bottle, shake it briefly.", + "Lift the plastic bottle with curved sides with the right arm and shake it.", + "Shake the the yellow bottle with blue label properly after lifting.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Shake the smooth plastic bottle after lifting it.", + "Use the right arm to hold the yellow bottle with dark label and shake it.", + "Secure the yellow bottle for liquid storage and perform a shake.", + "Grab the handheld curvy bottle and give it a shake.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Lift the yellow bottle with dark label with the right arm and give it a shake.", + "Pick the yellow bottle with dark label up with the right arm and shake.", + "Catch the medium-sized bottle and shake it instantly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Grab the yellow bottle with blue label firmly, shake it, and put it down.", + "Hold the yellow bottle for liquid storage steady, then shake it.", + "Grab the yellow bottle for liquid storage and move it to shake.", + "Shake the bottle for liquid after grabbing it.", + "Grasp the yellow bottle for liquid storage with the right arm and shake it.", + "Lift up the yellow bottle using the right arm, then shake.", + "Use the right arm to pick and shake the plastic bottle with curved sides.", + "Shake the handheld curvy bottle after grabbing it.", + "Use the right arm to lift and shake the handheld curvy bottle.", + "Use the right arm to lift and shake the bottle with screw cap.", + "With the right arm, pick the yellow bottle for liquid storage and shake properly.", + "Hold the yellow bottle and shake it properly.", + "Lift the yellow bottle with dark label and shake it gently.", + "Take the bottle with screw cap using the right arm and give it a shake.", + "Shake the yellow bottle thoroughly after grabbing it." + ], + "unseen": [ + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the yellow bottle with white cap and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Grab the yellow bottle with white cap and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Grab the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap and shake it.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Grab the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Shake the curvy yellow plastic bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode479.json b/shake_bottle/ur5_randomized_500/instructions/episode479.json new file mode 100644 index 0000000000000000000000000000000000000000..3b57f4302e37c6ea233d0b2549fe31c05c8f5b94 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode479.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the orange drink bottle with label and shake it gently.", + "Pick up the cylindrical orange plastic bottle and shake it well.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Use the left arm to grab the ridged orange bottle with grooves and shake it.", + "Hold the orange drink bottle with label, shake it briefly.", + "Grip the curved orange soda bottle using the left arm and shake.", + "Lift the cylindrical orange plastic bottle with the left arm and shake.", + "Grab the ridged orange bottle with grooves and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the smooth orange bottle steady, then shake it.", + "Grab the medium bottle with colorful label using the left arm, then shake.", + "Secure the ridged orange bottle with grooves, shake it, and place it down.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Hold the medium bottle with colorful label and shake it properly.", + "Shake the bottle for holding drinks using the left arm after grabbing.", + "Shake the curved orange soda bottle after grabbing it.", + "Pick up the curved orange soda bottle and shake it.", + "Lift up the medium bottle with colorful label using the left arm, then shake.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Grasp the orange bottle with the left arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Shake the curved orange soda bottle after grabbing it.", + "Secure the grooved orange drink bottle and perform a shake.", + "Grab the orange bottle with the left arm and shake.", + "Catch the orange bottle and shake it instantly.", + "Use the left arm to grab the light and medium-sized bottle and shake properly.", + "Lift the curved orange soda bottle with the left arm and give it a shake.", + "Pick the medium bottle with colorful label, shake it with the left arm.", + "Use the left arm to hold the curved orange soda bottle and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Lift the light and medium-sized bottle with the left arm and shake it.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Shake the bottle for holding drinks after holding it firmly.", + "Shake the smooth orange bottle after lifting it.", + "Grab the plastic bottle carefully and shake.", + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Pick the smooth orange bottle up with the left arm and shake.", + "Shake the round-bottom bottle with white cap thoroughly after grabbing it.", + "Shake the the bottle for holding drinks properly after lifting.", + "Pick the medium bottle with colorful label up using the left arm and shake it.", + "Utilize the left arm to hold the smooth orange bottle and shake it.", + "Take the bottle for holding drinks using the left arm and give it a shake.", + "Grab and shake the medium bottle with colorful label using the left arm.", + "Using the left arm, shake the ridged orange bottle with grooves and then place it back.", + "Hold the light and medium-sized bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the medium bottle with colorful label and shake it steadily.", + "Lift the bottle for holding drinks and shake it gently.", + "Pick up the bottle for holding drinks and shake it well.", + "Lift the medium bottle with colorful label and shake it thoroughly.", + "Pick the orange drink bottle with label and perform shaking motion.", + "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.", + "Use the left arm to grab the grooved orange drink bottle and shake it.", + "Hold the light and medium-sized bottle, shake it briefly.", + "Grip the plastic bottle using the left arm and shake.", + "Lift the ridged orange bottle with grooves with the left arm and shake.", + "Grab the orange bottle and give it a shake.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Hold the plastic bottle steady, then shake it.", + "Grab the smooth orange bottle using the left arm, then shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Hold the curved orange soda bottle and shake it properly.", + "Shake the cylindrical orange plastic bottle using the left arm after grabbing.", + "Shake the medium bottle with colorful label after grabbing it.", + "Pick up the orange drink bottle with label and shake it.", + "Lift up the round-bottom bottle with white cap using the left arm, then shake.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Grasp the ridged orange bottle with grooves with the left arm and shake it.", + "Hold and shake the the curved orange soda bottle carefully.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Secure the smooth orange bottle and perform a shake.", + "Grab the cylindrical orange plastic bottle with the left arm and shake.", + "Catch the orange drink bottle with label and shake it instantly.", + "Use the left arm to grab the curved orange soda bottle and shake properly.", + "Lift the ridged orange bottle with grooves with the left arm and give it a shake.", + "Pick the orange bottle, shake it with the left arm.", + "Use the left arm to hold the orange drink bottle with label and shake it.", + "Shake the medium bottle with colorful label after grabbing it.", + "Lift the medium bottle with colorful label with the left arm and shake it.", + "Grab the grooved orange drink bottle and move it to shake.", + "Shake the smooth orange bottle after holding it firmly.", + "Shake the smooth orange bottle after lifting it.", + "Grab the bottle for holding drinks carefully and shake.", + "With the left arm, pick the ridged orange bottle with grooves and shake properly.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Pick the ridged orange bottle with grooves up with the left arm and shake.", + "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.", + "Shake the the orange drink bottle with label properly after lifting.", + "Pick the light and medium-sized bottle up using the left arm and shake it.", + "Utilize the left arm to hold the light and medium-sized bottle and shake it.", + "Take the bottle for holding drinks using the left arm and give it a shake.", + "Grab and shake the plastic bottle using the left arm.", + "Using the left arm, shake the smooth orange bottle and then place it back.", + "Hold the ridged orange bottle with grooves with the left arm and shake lightly.", + "Use the left arm to pick and shake the curved orange soda bottle.", + "Grab the smooth orange bottle and shake it steadily." + ], + "unseen": [ + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the bottle with white cap with the left arm.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Use the left arm to grab the bottle with ridged orange grip and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode48.json b/shake_bottle/ur5_randomized_500/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..8ea8848ef4044fee6958f76e4c395d662151fd95 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rounded body bottle made of plastic and move it to shake.", + "Grab the hand-sized bottle with screw cap with the left arm and shake.", + "Shake the light gray colored container bottle after grabbing it.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Grab the smooth surface bottle with gray shade and shake it steadily.", + "Use the left arm to grab the hand-sized bottle with screw cap and shake it.", + "Shake the gray bottle with slight shine thoroughly after grabbing it.", + "Use the left arm to grab the milk-bottle shape design and shake properly.", + "Pick up the plastic bottle with ghost print and shake it well.", + "Shake the rounded body bottle made of plastic after lifting it.", + "Lift up the medium cylinder-shaped bottle using the left arm, then shake.", + "Lift the gray bottle with slight shine with the left arm and shake it.", + "Secure the plastic bottle with ghost print and perform a shake.", + "Pick up the light gray colored container bottle and shake it.", + "Catch the light gray colored container bottle and shake it instantly.", + "Take the gray bottle with slight shine using the left arm and give it a shake.", + "Hold the gray bottle with slight shine and shake it properly.", + "Use the left arm to hold the gray bottle with slight shine and shake it.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Shake the gray bottle with slight shine using the left arm after grabbing.", + "Lift the plastic bottle with ghost print with the left arm and shake.", + "Grab and shake the hand-sized bottle with screw cap using the left arm.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Shake the the milk-bottle shape design properly after lifting.", + "Hold the smooth surface bottle with gray shade with the left arm and shake lightly.", + "Utilize the left arm to hold the light gray colored container bottle and shake it.", + "Grab the plastic bottle with ghost print carefully and shake.", + "Grip the smooth cylindrical bottle using the left arm and shake.", + "Grab the smooth cylindrical bottle firmly, shake it, and put it down.", + "Secure the medium cylinder-shaped bottle, shake it, and place it down.", + "Use the left arm to pick and shake the smooth cylindrical bottle.", + "Shake the plastic bottle with ghost print after holding it firmly.", + "Grasp the hand-sized bottle with screw cap with the left arm and shake it.", + "Pick the medium cylinder-shaped bottle and perform shaking motion.", + "Shake the medium-sized plastic bottle after grabbing it.", + "With the left arm, pick the medium-sized plastic bottle and shake properly.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Pick the light gray colored container bottle up with the left arm and shake.", + "Grab the light gray colored container bottle and give it a shake.", + "Shake the plastic bottle with ghost print firmly after grabbing.", + "Pick the rounded body bottle made of plastic up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth surface bottle with gray shade.", + "Lift the milk-bottle shape design and shake it gently.", + "Pick the light gray colored container bottle, shake it with the left arm.", + "Hold and shake the the gray bottle with slight shine carefully.", + "Grab the medium-sized plastic bottle using the left arm, then shake.", + "Lift the hand-sized bottle with screw cap and shake it thoroughly.", + "Using the left arm, shake the milk-bottle shape design and then place it back.", + "Lift the milk-bottle shape design with the left arm and give it a shake.", + "Grab the bottle shaped like small cylinder and move it to shake.", + "Grab the medium cylinder-shaped bottle with the left arm and shake.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Use the left arm to lift and shake the medium-sized plastic bottle.", + "Hold the bottle shaped like small cylinder steady, then shake it.", + "Grab the plastic bottle with ghost print and shake it steadily.", + "Use the left arm to grab the smooth cylindrical bottle and shake it.", + "Shake the smooth cylindrical bottle thoroughly after grabbing it.", + "Use the left arm to grab the rounded body bottle made of plastic and shake properly.", + "Pick up the gray bottle with slight shine and shake it well.", + "Shake the bottle with cute ghost drawing after lifting it.", + "Lift up the hand-sized bottle with screw cap using the left arm, then shake.", + "Lift the bottle with cute ghost drawing with the left arm and shake it.", + "Secure the light gray colored container bottle and perform a shake.", + "Pick up the gray bottle with slight shine and shake it.", + "Catch the bottle with cute ghost drawing and shake it instantly.", + "Take the plastic bottle with ghost print using the left arm and give it a shake.", + "Hold the milk-bottle shape design and shake it properly.", + "Use the left arm to hold the light gray colored container bottle and shake it.", + "Use the left arm to lift and shake the medium cylinder-shaped bottle.", + "Shake the milk-bottle shape design using the left arm after grabbing.", + "Lift the bottle shaped like small cylinder with the left arm and shake.", + "Grab and shake the bottle with cute ghost drawing using the left arm.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Shake the the hand-sized bottle with screw cap properly after lifting.", + "Hold the light gray colored container bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the plastic bottle with ghost print and shake it.", + "Grab the milk-bottle shape design carefully and shake.", + "Grip the light gray colored container bottle using the left arm and shake.", + "Grab the rounded body bottle made of plastic firmly, shake it, and put it down.", + "Secure the smooth surface bottle with gray shade, shake it, and place it down.", + "Use the left arm to pick and shake the smooth surface bottle with gray shade.", + "Shake the light gray colored container bottle after holding it firmly.", + "Grasp the bottle shaped like small cylinder with the left arm and shake it.", + "Pick the bottle shaped like small cylinder and perform shaking motion.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "With the left arm, pick the light gray colored container bottle and shake properly.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Pick the hand-sized bottle with screw cap up with the left arm and shake.", + "Grab the milk-bottle shape design and give it a shake.", + "Shake the bottle with cute ghost drawing firmly after grabbing.", + "Pick the bottle with cute ghost drawing up using the left arm and shake it.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Lift the plastic bottle with ghost print and shake it gently.", + "Pick the bottle with cute ghost drawing, shake it with the left arm.", + "Hold and shake the the gray bottle with slight shine carefully.", + "Grab the plastic bottle with ghost print using the left arm, then shake.", + "Lift the medium cylinder-shaped bottle and shake it thoroughly.", + "Using the left arm, shake the bottle shaped like small cylinder and then place it back.", + "Lift the smooth cylindrical bottle with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Grab the light gray bottle and shake it.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Shake the light gray bottle after picking it with the left arm.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the light gray bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode480.json b/shake_bottle/ur5_randomized_500/instructions/episode480.json new file mode 100644 index 0000000000000000000000000000000000000000..caceb7397c102b2dd22fefea88ffb1c9910b79e3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode480.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the yellow label bottle.", + "Lift the medium bottle with orange lid with the left arm and shake.", + "Hold the cylindrical orange and white bottle steady, then shake it.", + "Grab the white and orange plastic bottle and shake it steadily.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Hold the yellow label bottle and shake it properly.", + "Grab the bottle with orange cap and give it a shake.", + "Pick the plastic bottle and perform shaking motion.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Shake the yellow label bottle using the left arm after grabbing.", + "Hold the bottle with ribbed orange bottom with the left arm and shake lightly.", + "Lift the bottle with orange cap and shake it gently.", + "Use the left arm to grab the orange bottle and shake it.", + "Shake the cylindrical orange and white bottle firmly after grabbing.", + "Grab the white and orange plastic bottle and move it to shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Shake the the orange bottle properly after lifting.", + "Pick the orange bottle up with the left arm and shake.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Lift the bottle with ribbed orange bottom with the left arm and shake it.", + "Utilize the left arm to hold the white and orange plastic bottle and shake it.", + "Pick the drinking bottle with yellow label, shake it with the left arm.", + "With the left arm, pick the drinking bottle with yellow label and shake properly.", + "Shake the medium bottle with orange lid after grabbing it.", + "Grab the bottle with orange cap firmly, shake it, and put it down.", + "Using the left arm, shake the medium bottle with orange lid and then place it back.", + "Grab the medium orange bottle carefully and shake.", + "Secure the drinking bottle with yellow label, shake it, and place it down.", + "Hold the bottle with orange cap, shake it briefly.", + "Grab and shake the cylindrical orange and white bottle using the left arm.", + "Pick the cylindrical orange and white bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the orange bottle.", + "Shake the plastic bottle after grabbing it.", + "Shake the bottle with ribbed orange bottom after lifting it.", + "Use the left arm to pick and shake the yellow label bottle.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grab the bottle with ribbed orange bottom with the left arm and shake.", + "Use the left arm to hold the medium orange bottle and shake it.", + "Shake the orange bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the orange bottle.", + "Hold and shake the the orange bottle carefully.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Pick up the white and orange plastic bottle and shake it well.", + "Pick up the yellow label bottle and shake it.", + "Lift the orange bottle with the left arm and give it a shake.", + "Grab the medium orange bottle using the left arm, then shake.", + "Shake the medium orange bottle after grabbing it.", + "Lift the drinking bottle with yellow label and shake it thoroughly.", + "Take the bottle with orange cap using the left arm and give it a shake.", + "Grip the bottle with ribbed orange bottom using the left arm and shake.", + "Use the left arm to lift and shake the orange and white bottle with cap.", + "Lift the medium bottle with orange lid with the left arm and shake.", + "Hold the plastic bottle steady, then shake it.", + "Grab the cylindrical orange and white bottle and shake it steadily.", + "Shake the drinking bottle with yellow label after holding it firmly.", + "Hold the bottle with orange cap and shake it properly.", + "Grab the smooth plastic bottle and give it a shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Secure the bottle with ribbed orange bottom and perform a shake.", + "Shake the bottle with orange cap using the left arm after grabbing.", + "Hold the medium bottle with orange lid with the left arm and shake lightly.", + "Lift the orange bottle and shake it gently.", + "Use the left arm to grab the bottle with orange cap and shake it.", + "Shake the cylindrical orange and white bottle firmly after grabbing.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Lift up the orange bottle using the left arm, then shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Pick the medium orange bottle up with the left arm and shake.", + "Catch the medium orange bottle and shake it instantly.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Utilize the left arm to hold the bottle with orange cap and shake it.", + "Pick the yellow label bottle, shake it with the left arm.", + "With the left arm, pick the bottle with ribbed orange bottom and shake properly.", + "Shake the smooth plastic bottle after grabbing it.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Using the left arm, shake the smooth plastic bottle and then place it back.", + "Grab the white and orange plastic bottle carefully and shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Hold the smooth plastic bottle, shake it briefly.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Pick the yellow label bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Shake the orange bottle after grabbing it.", + "Shake the orange and white bottle with cap after lifting it.", + "Use the left arm to pick and shake the plastic bottle.", + "Use the left arm to grab the orange and white bottle with cap and shake properly.", + "Grab the cylindrical orange and white bottle with the left arm and shake.", + "Use the left arm to hold the medium bottle with orange lid and shake it.", + "Shake the medium bottle with orange lid thoroughly after grabbing it.", + "Use the left arm to lift and shake the yellow label bottle.", + "Hold and shake the the white and orange plastic bottle carefully.", + "Grasp the orange and white bottle with cap with the left arm and shake it.", + "Pick up the orange bottle and shake it well.", + "Pick up the plastic bottle and shake it.", + "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.", + "Grab the orange bottle using the left arm, then shake.", + "Shake the plastic bottle after grabbing it.", + "Lift the medium orange bottle and shake it thoroughly.", + "Take the medium orange bottle using the left arm and give it a shake.", + "Grip the orange bottle using the left arm and shake." + ], + "unseen": [ + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with curved body and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode481.json b/shake_bottle/ur5_randomized_500/instructions/episode481.json new file mode 100644 index 0000000000000000000000000000000000000000..bde97e03d5fe992b9bc594f38a8a924c77a98e24 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode481.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the yellow bottle with dark label after grabbing it.", + "Grab the yellow bottle with blue label and give it a shake.", + "Catch the medium-sized bottle and shake it instantly.", + "Use the right arm to grab the plastic bottle with curved sides and shake properly.", + "Take the bottle with screw cap using the right arm and give it a shake.", + "Lift the yellow bottle for liquid storage and shake it gently.", + "Using the right arm, shake the yellow bottle for liquid storage and then place it back.", + "Hold the medium plastic bottle with cap, shake it briefly.", + "Pick the plastic bottle and perform shaking motion.", + "Grab the yellow bottle for liquid storage firmly, shake it, and put it down.", + "Grab the smooth plastic bottle carefully and shake.", + "Grab the bottle for liquid using the right arm, then shake.", + "Shake the yellow bottle with blue label using the right arm after grabbing.", + "Hold and shake the the bottle for liquid carefully.", + "Secure the yellow bottle with blue label and perform a shake.", + "Lift the bottle for liquid and shake it thoroughly.", + "Pick up the yellow bottle with blue label and shake it well.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the the handheld curvy bottle properly after lifting.", + "Hold the yellow bottle with the right arm and shake lightly.", + "Lift the yellow bottle with dark label with the right arm and give it a shake.", + "Shake the bottle for liquid after grabbing it.", + "Grab the yellow bottle with dark label with the right arm and shake.", + "Shake the yellow bottle for liquid storage after lifting it.", + "Utilize the right arm to hold the yellow bottle for liquid storage and shake it.", + "Secure the medium plastic bottle with cap, shake it, and place it down.", + "Grip the handheld curvy bottle using the right arm and shake.", + "Hold the medium-sized bottle and shake it properly.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the medium plastic bottle with cap after grabbing it.", + "Lift the yellow bottle for liquid storage with the right arm and shake it.", + "Use the right arm to grab the bottle with screw cap and shake it.", + "Pick up the plastic bottle and shake it.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Grab the yellow bottle with blue label and shake it steadily.", + "Grab and shake the bottle for liquid using the right arm.", + "Shake the yellow bottle after holding it firmly.", + "With the right arm, pick the plastic bottle with curved sides and shake properly.", + "Use the right arm to hold the yellow bottle with blue label and shake it.", + "Lift up the yellow bottle with dark label using the right arm, then shake.", + "Lift the bottle with screw cap with the right arm and shake.", + "Grab the handheld curvy bottle and move it to shake.", + "Use the right arm to pick and shake the handheld curvy bottle.", + "Shake the yellow bottle with blue label thoroughly after grabbing it.", + "Use the right arm to lift and shake the yellow bottle with dark label.", + "Hold the bottle for liquid steady, then shake it.", + "Pick the smooth plastic bottle up with the right arm and shake.", + "Shake the handheld curvy bottle firmly after grabbing.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Grasp the medium plastic bottle with cap with the right arm and shake it.", + "Shake the handheld curvy bottle after grabbing it.", + "Grab the smooth plastic bottle and give it a shake.", + "Catch the bottle with screw cap and shake it instantly.", + "Use the right arm to grab the plastic bottle with curved sides and shake properly.", + "Take the handheld curvy bottle using the right arm and give it a shake.", + "Lift the medium plastic bottle with cap and shake it gently.", + "Using the right arm, shake the bottle for liquid and then place it back.", + "Hold the bottle for liquid, shake it briefly.", + "Pick the medium-sized bottle and perform shaking motion.", + "Grab the bottle for liquid firmly, shake it, and put it down.", + "Grab the yellow bottle with dark label carefully and shake.", + "Grab the handheld curvy bottle using the right arm, then shake.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Hold and shake the the handheld curvy bottle carefully.", + "Secure the plastic bottle with curved sides and perform a shake.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the the handheld curvy bottle properly after lifting.", + "Hold the bottle for liquid with the right arm and shake lightly.", + "Lift the bottle with screw cap with the right arm and give it a shake.", + "Shake the yellow bottle with dark label after grabbing it.", + "Grab the bottle with screw cap with the right arm and shake.", + "Shake the yellow bottle with dark label after lifting it.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Secure the yellow bottle with blue label, shake it, and place it down.", + "Grip the bottle with screw cap using the right arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Use the right arm to lift and shake the yellow bottle with dark label.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Lift the yellow bottle with dark label with the right arm and shake it.", + "Use the right arm to grab the plastic bottle with curved sides and shake it.", + "Pick up the bottle for liquid and shake it.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Grab the plastic bottle and shake it steadily.", + "Grab and shake the medium plastic bottle with cap using the right arm.", + "Shake the yellow bottle for liquid storage after holding it firmly.", + "With the right arm, pick the bottle for liquid and shake properly.", + "Use the right arm to hold the yellow bottle with blue label and shake it.", + "Lift up the medium plastic bottle with cap using the right arm, then shake.", + "Lift the medium-sized bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage and move it to shake.", + "Use the right arm to pick and shake the yellow bottle with blue label.", + "Shake the yellow bottle with blue label thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Hold the bottle with screw cap steady, then shake it.", + "Pick the handheld curvy bottle up with the right arm and shake.", + "Shake the bottle for liquid firmly after grabbing.", + "Pick the yellow bottle with blue label, shake it with the right arm.", + "Grasp the yellow bottle with dark label with the right arm and shake it." + ], + "unseen": [ + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text and give it a shake.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap and shake it.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick up the smooth bottle with blue text and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode482.json b/shake_bottle/ur5_randomized_500/instructions/episode482.json new file mode 100644 index 0000000000000000000000000000000000000000..e0bdb96fb61c35abb0b589db5168ac313bd172dd --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode482.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the right arm to hold the brown bottle and shake it.", + "Grab the small curved plastic bottle with the right arm and shake.", + "Using the right arm, shake the small bottle with decorative design and then place it back.", + "Catch the small bottle with decorative design and shake it instantly.", + "Secure the bottle with black label and perform a shake.", + "Pick the curved bottle with white top, shake it with the right arm.", + "Hold the smooth brown and white patterned bottle and shake it properly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth brown and white patterned bottle.", + "Lift the small curved plastic bottle and shake it thoroughly.", + "Pick up the brown bottle and shake it.", + "Use the right arm to hold the hand-sized plastic bottle and shake it.", + "Pick up the bottle with brown and white patterns and shake it well.", + "Pick the bottle with black label and perform shaking motion.", + "Shake the curved bottle with white top using the right arm after grabbing.", + "Grab the hand-sized plastic bottle firmly, shake it, and put it down.", + "Secure the bottle with brown and white patterns, shake it, and place it down.", + "Lift the bottle with black label with the right arm and shake it.", + "Lift the bottle holding liquid with the right arm and shake.", + "Lift the small bottle with decorative design with the right arm and give it a shake.", + "Hold the curved bottle with white top steady, then shake it.", + "Use the right arm to grab the small bottle with decorative design and shake it.", + "Use the right arm to pick and shake the bottle with brown and white patterns.", + "Use the right arm to lift and shake the hand-sized plastic bottle.", + "Hold and shake the the hand-sized plastic bottle carefully.", + "Hold the bottle holding liquid with the right arm and shake lightly.", + "Grab the bottle holding liquid using the right arm, then shake.", + "Shake the hand-sized plastic bottle firmly after grabbing.", + "Lift up the bottle holding liquid using the right arm, then shake.", + "Use the right arm to grab the brown bottle and shake properly.", + "Grab and shake the smooth brown and white patterned bottle using the right arm.", + "Pick the curved bottle with white top up using the right arm and shake it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the small bottle with decorative design after holding it firmly.", + "Take the bottle with white screw cap using the right arm and give it a shake.", + "With the right arm, pick the bottle holding liquid and shake properly.", + "Use the right arm to lift and shake the small curved plastic bottle.", + "Grab the bottle with brown and white patterns and shake it steadily.", + "Grab the smooth brown and white patterned bottle carefully and shake.", + "Shake the bottle with brown and white patterns after lifting it.", + "Shake the smooth brown and white patterned bottle after grabbing it.", + "Grab the small bottle with decorative design and give it a shake.", + "Hold the hand-sized plastic bottle, shake it briefly.", + "Shake the the hand-sized plastic bottle properly after lifting.", + "Grab the hand-sized plastic bottle and move it to shake.", + "Pick the hand-sized plastic bottle up with the right arm and shake.", + "Shake the bottle holding liquid after grabbing it.", + "Shake the bottle holding liquid after grabbing it.", + "Lift the small bottle with decorative design and shake it gently.", + "Grip the smooth brown and white patterned bottle using the right arm and shake.", + "Utilize the right arm to hold the bottle holding liquid and shake it.", + "Grab the white-capped bottle with the right arm and shake.", + "Using the right arm, shake the bottle with brown and white patterns and then place it back.", + "Catch the small curved plastic bottle and shake it instantly.", + "Secure the small bottle with decorative design and perform a shake.", + "Pick the smooth brown and white patterned bottle, shake it with the right arm.", + "Hold the brown bottle and shake it properly.", + "Shake the bottle holding liquid thoroughly after grabbing it.", + "Use the right arm to lift and shake the brown bottle.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick up the smooth brown and white patterned bottle and shake it.", + "Use the right arm to hold the bottle with brown and white patterns and shake it.", + "Pick up the smooth brown and white patterned bottle and shake it well.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the small bottle with decorative design using the right arm after grabbing.", + "Grab the bottle with brown and white patterns firmly, shake it, and put it down.", + "Secure the small curved plastic bottle, shake it, and place it down.", + "Lift the bottle with white screw cap with the right arm and shake it.", + "Lift the smooth brown and white patterned bottle with the right arm and shake.", + "Lift the bottle with brown and white patterns with the right arm and give it a shake.", + "Hold the small curved plastic bottle steady, then shake it.", + "Use the right arm to grab the small curved plastic bottle and shake it.", + "Use the right arm to pick and shake the bottle holding liquid.", + "Use the right arm to lift and shake the hand-sized plastic bottle.", + "Hold and shake the the small bottle with decorative design carefully.", + "Hold the bottle with brown and white patterns with the right arm and shake lightly.", + "Grab the bottle with white screw cap using the right arm, then shake.", + "Shake the brown bottle firmly after grabbing.", + "Lift up the bottle with black label using the right arm, then shake.", + "Use the right arm to grab the white-capped bottle and shake properly.", + "Grab and shake the small curved plastic bottle using the right arm.", + "Pick the bottle holding liquid up using the right arm and shake it.", + "Grasp the bottle with black label with the right arm and shake it.", + "Shake the small bottle with decorative design after holding it firmly.", + "Take the bottle with white screw cap using the right arm and give it a shake.", + "With the right arm, pick the brown bottle and shake properly.", + "Use the right arm to lift and shake the small curved plastic bottle.", + "Grab the bottle holding liquid and shake it steadily.", + "Grab the curved bottle with white top carefully and shake.", + "Shake the white-capped bottle after lifting it.", + "Shake the bottle with black label after grabbing it.", + "Grab the bottle with black label and give it a shake.", + "Hold the brown bottle, shake it briefly.", + "Shake the the plastic bottle properly after lifting.", + "Grab the small bottle with decorative design and move it to shake.", + "Pick the bottle with black label up with the right arm and shake.", + "Shake the bottle with white screw cap after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Lift the smooth brown and white patterned bottle and shake it gently.", + "Grip the bottle holding liquid using the right arm and shake." + ], + "unseen": [ + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Grab the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the glossy brown bottle and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the glossy brown bottle and give it a shake.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the glossy brown bottle and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Grab the glossy brown bottle and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Grab the glossy brown bottle and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the glossy brown bottle and shake it.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Grab the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Grab the brown bottle with glossy swirls and shake it.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Pick up the glossy brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode483.json b/shake_bottle/ur5_randomized_500/instructions/episode483.json new file mode 100644 index 0000000000000000000000000000000000000000..1edb16a254cc442386d9590b430f8e6a366ace34 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode483.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the white bottle for liquids.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the medium-sized bottle after grabbing it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold the bottle with orange screw cap and shake it properly.", + "Grab the bottle with orange screw cap and give it a shake.", + "Grab the cylindrical bottle with red writing using the left arm, then shake.", + "Lift the bottle with tapering neck and shake it thoroughly.", + "Shake the white bottle after grabbing it.", + "Shake the white cylindrical bottle after holding it firmly.", + "Lift the white bottle for liquids with the left arm and shake.", + "Using the left arm, shake the white cylindrical bottle and then place it back.", + "Shake the bottle with orange screw cap after lifting it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Pick the white bottle with orange lid and perform shaking motion.", + "Lift up the white bottle with red text using the left arm, then shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the white cylindrical bottle firmly after grabbing.", + "Grab the bottle with orange screw cap with the left arm and shake.", + "Utilize the left arm to hold the white bottle and shake it.", + "Use the left arm to lift and shake the white bottle with orange lid.", + "Pick the white bottle with orange lid up with the left arm and shake.", + "Hold the medium-sized bottle, shake it briefly.", + "Shake the bottle with orange screw cap after grabbing it.", + "Grab the smooth bottle and shake it steadily.", + "Lift the medium-sized bottle with the left arm and shake it.", + "Grab and shake the white bottle with red text using the left arm.", + "Lift the smooth bottle with the left arm and give it a shake.", + "Use the left arm to grab the white bottle with orange lid and shake it.", + "Secure the handheld white bottle with cap and perform a shake.", + "Grasp the white bottle for liquids with the left arm and shake it.", + "Shake the white bottle using the left arm after grabbing.", + "Hold the white bottle steady, then shake it.", + "Grab the bottle with orange screw cap firmly, shake it, and put it down.", + "Hold and shake the the white bottle with red text carefully.", + "Pick up the white bottle with orange lid and shake it.", + "With the left arm, pick the cylindrical bottle with red writing and shake properly.", + "Pick up the bottle with orange screw cap and shake it well.", + "Grip the white bottle with red text using the left arm and shake.", + "Catch the white bottle for liquids and shake it instantly.", + "Use the left arm to pick and shake the white bottle.", + "Pick the white cylindrical bottle, shake it with the left arm.", + "Grab the white bottle and move it to shake.", + "Use the left arm to grab the smooth bottle and shake properly.", + "Pick the medium-sized bottle up using the left arm and shake it.", + "Shake the smooth bottle thoroughly after grabbing it.", + "Shake the the bottle with tapering neck properly after lifting.", + "Use the left arm to lift and shake the white bottle.", + "Grab the smooth bottle carefully and shake.", + "Lift the smooth bottle and shake it gently.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Secure the bottle with tapering neck, shake it, and place it down.", + "Shake the plastic bottle after grabbing it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Hold the plastic bottle and shake it properly.", + "Grab the smooth bottle and give it a shake.", + "Grab the handheld white bottle with cap using the left arm, then shake.", + "Lift the smooth bottle and shake it thoroughly.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Shake the smooth bottle after holding it firmly.", + "Lift the cylindrical bottle with red writing with the left arm and shake.", + "Using the left arm, shake the bottle with tapering neck and then place it back.", + "Shake the cylindrical bottle with red writing after lifting it.", + "Use the left arm to hold the bottle with orange screw cap and shake it.", + "Pick the handheld white bottle with cap and perform shaking motion.", + "Lift up the bottle with orange screw cap using the left arm, then shake.", + "Hold the bottle with orange screw cap with the left arm and shake lightly.", + "Shake the bottle with orange screw cap firmly after grabbing.", + "Grab the white cylindrical bottle with the left arm and shake.", + "Utilize the left arm to hold the smooth bottle and shake it.", + "Use the left arm to lift and shake the white bottle for liquids.", + "Pick the cylindrical bottle with red writing up with the left arm and shake.", + "Hold the bottle with orange screw cap, shake it briefly.", + "Shake the white cylindrical bottle after grabbing it.", + "Grab the white bottle for liquids and shake it steadily.", + "Lift the white bottle with red text with the left arm and shake it.", + "Grab and shake the white bottle with red text using the left arm.", + "Lift the bottle with orange screw cap with the left arm and give it a shake.", + "Use the left arm to grab the medium-sized bottle and shake it.", + "Secure the bottle with orange screw cap and perform a shake.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Hold the cylindrical bottle with red writing steady, then shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold and shake the the bottle with tapering neck carefully.", + "Pick up the white bottle with orange lid and shake it.", + "With the left arm, pick the medium-sized bottle and shake properly.", + "Pick up the white bottle with red text and shake it well.", + "Grip the cylindrical bottle with red writing using the left arm and shake.", + "Catch the white cylindrical bottle and shake it instantly.", + "Use the left arm to pick and shake the white bottle with red text.", + "Pick the white bottle for liquids, shake it with the left arm.", + "Grab the white bottle for liquids and move it to shake.", + "Use the left arm to grab the white bottle with red text and shake properly.", + "Pick the smooth bottle up using the left arm and shake it.", + "Shake the white bottle with red text thoroughly after grabbing it.", + "Shake the the bottle with tapering neck properly after lifting.", + "Use the left arm to lift and shake the white bottle for liquids.", + "Grab the white bottle with red text carefully and shake.", + "Lift the medium-sized bottle and shake it gently." + ], + "unseen": [ + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the bottle with orange cap.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with glossy surface.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Use the left arm to pick the plastic bottle with printed label.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Use the left arm to pick the bottle with orange cap." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode484.json b/shake_bottle/ur5_randomized_500/instructions/episode484.json new file mode 100644 index 0000000000000000000000000000000000000000..98ec97c27557347915257dc2d369717b0d097f73 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode484.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the blue bottle with the left arm and shake it.", + "Shake the the medium-sized bottle properly after lifting.", + "Catch the white bottle with blue accents and shake it instantly.", + "Grab the blue bottle with label firmly, shake it, and put it down.", + "Using the left arm, shake the medium bottle for beverages and then place it back.", + "Shake the medium bottle for beverages after grabbing it.", + "Grab the medium bottle for beverages carefully and shake.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Shake the bottle with blue cap after holding it firmly.", + "Secure the cylindrical bottle, shake it, and place it down.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Lift up the blue bottle with label using the left arm, then shake.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Pick up the smooth plastic bottle and shake it.", + "Use the left arm to lift and shake the bottle with blue cap.", + "Lift the blue bottle with the left arm and shake.", + "Use the left arm to grab the white bottle with blue accents and shake it.", + "Utilize the left arm to hold the blue bottle and shake it.", + "Shake the white bottle with blue accents after lifting it.", + "Shake the handheld bottle after grabbing it.", + "Pick the bottle for liquids, shake it with the left arm.", + "Grip the blue bottle with label using the left arm and shake.", + "Hold the white bottle with blue accents with the left arm and shake lightly.", + "Hold the smooth plastic bottle and shake it properly.", + "Hold the smooth plastic bottle steady, then shake it.", + "Pick the medium bottle for beverages up using the left arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to hold the white and blue bottle and shake it.", + "Grab the blue bottle and move it to shake.", + "Grab the blue bottle with label and shake it steadily.", + "Use the left arm to lift and shake the white and blue bottle.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Use the left arm to pick and shake the white and blue bottle.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Grab the plastic bottle using the left arm, then shake.", + "Hold the medium bottle for beverages, shake it briefly.", + "Shake the cylindrical bottle after grabbing it.", + "Grab and shake the blue bottle using the left arm.", + "Use the left arm to grab the cylindrical bottle and shake properly.", + "Pick up the medium bottle for beverages and shake it well.", + "Lift the bottle for liquids and shake it thoroughly.", + "Secure the blue bottle with label and perform a shake.", + "Grasp the plastic bottle with the left arm and shake it.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Take the bottle for liquids using the left arm and give it a shake.", + "Shake the blue bottle with label thoroughly after grabbing it.", + "Lift the plastic bottle and shake it gently.", + "Grab the blue bottle with label with the left arm and shake.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Shake the the bottle with blue cap properly after lifting.", + "Catch the smooth plastic bottle and shake it instantly.", + "Grab the bottle for liquids firmly, shake it, and put it down.", + "Using the left arm, shake the medium bottle for beverages and then place it back.", + "Shake the blue bottle after grabbing it.", + "Grab the bottle with blue cap carefully and shake.", + "Shake the blue bottle using the left arm after grabbing.", + "Shake the plastic bottle after holding it firmly.", + "Secure the medium bottle for beverages, shake it, and place it down.", + "Pick the bottle with blue cap up with the left arm and shake.", + "Shake the white and blue bottle firmly after grabbing.", + "Lift up the blue bottle with label using the left arm, then shake.", + "Hold and shake the the white and blue bottle carefully.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Pick up the bottle with blue cap and shake it.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Lift the handheld bottle with the left arm and shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Utilize the left arm to hold the cylindrical bottle and shake it.", + "Shake the handheld bottle after lifting it.", + "Shake the white bottle with blue accents after grabbing it.", + "Pick the cylindrical bottle, shake it with the left arm.", + "Grip the bottle for liquids using the left arm and shake.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Hold the handheld bottle and shake it properly.", + "Hold the blue bottle with label steady, then shake it.", + "Pick the blue bottle up using the left arm and shake it.", + "Grab the bottle with blue cap and give it a shake.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Grab the cylindrical bottle and move it to shake.", + "Grab the smooth plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with blue cap.", + "With the left arm, pick the bottle with blue cap and shake properly.", + "Use the left arm to pick and shake the bottle with blue cap.", + "Pick the medium-sized bottle and perform shaking motion.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Hold the bottle with blue cap, shake it briefly.", + "Shake the handheld bottle after grabbing it.", + "Grab and shake the white and blue bottle using the left arm.", + "Use the left arm to grab the bottle with blue cap and shake properly.", + "Pick up the medium bottle for beverages and shake it well.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Secure the white bottle with blue accents and perform a shake.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Lift the white bottle with blue accents with the left arm and give it a shake.", + "Take the bottle for liquids using the left arm and give it a shake.", + "Shake the cylindrical bottle thoroughly after grabbing it.", + "Lift the handheld bottle and shake it gently.", + "Grab the cylindrical bottle with the left arm and shake." + ], + "unseen": [ + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the bottle with curved neck design." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode485.json b/shake_bottle/ur5_randomized_500/instructions/episode485.json new file mode 100644 index 0000000000000000000000000000000000000000..1ad0065e0b995ab79b3e679169dd4098db546f6e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode485.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the bottle with tapered cylindrical shape.", + "Lift the brown bottle with green screw-on cap and shake it thoroughly.", + "Catch the brown bottle and shake it instantly.", + "Shake the cylindrical bottle with white label thoroughly after grabbing it.", + "Use the left arm to lift and shake the cylindrical bottle with white label.", + "Secure the brown bottle and perform a shake.", + "Pick up the bottle with tapered cylindrical shape and shake it well.", + "Grab the bottle with tapered cylindrical shape carefully and shake.", + "Using the left arm, shake the small brown plastic bottle and then place it back.", + "Shake the bottle with green cap after holding it firmly.", + "Grab and shake the hand-sized bottle with grooves using the left arm.", + "Shake the brown bottle with white printed label after grabbing it.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.", + "Grip the plastic bottle with ribbed pattern using the left arm and shake.", + "Hold the plastic bottle with ribbed pattern with the left arm and shake lightly.", + "Pick the brown bottle with white printed label and perform shaking motion.", + "Shake the brown bottle after grabbing it.", + "Grab the small drink bottle with logo and move it to shake.", + "Utilize the left arm to hold the plastic bottle with ribbed pattern and shake it.", + "Use the left arm to grab the bottle with green cap and shake properly.", + "Lift the brown bottle with the left arm and shake.", + "Grasp the plastic bottle with ribbed pattern with the left arm and shake it.", + "Secure the green-capped bottle, shake it, and place it down.", + "Pick the bottle with tapered cylindrical shape up using the left arm and shake it.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "Lift the cylindrical bottle with white label with the left arm and shake it.", + "Shake the cylindrical bottle with white label after lifting it.", + "Grab the plastic bottle with ribbed pattern and shake it steadily.", + "Hold the small drink bottle with logo, shake it briefly.", + "Lift up the plastic bottle with ribbed pattern using the left arm, then shake.", + "Lift the small drink bottle with logo and shake it gently.", + "With the left arm, pick the smooth plastic bottle for beverages and shake properly.", + "Shake the the bottle with green cap properly after lifting.", + "Shake the cylindrical bottle with white label firmly after grabbing.", + "Pick the bottle with green cap, shake it with the left arm.", + "Shake the bottle with tapered cylindrical shape using the left arm after grabbing.", + "Pick up the smooth plastic bottle for beverages and shake it.", + "Use the left arm to hold the bottle with green cap and shake it.", + "Hold and shake the the hand-sized bottle with grooves carefully.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Use the left arm to lift and shake the green-capped bottle.", + "Grab the smooth plastic bottle for beverages using the left arm, then shake.", + "Grab the brown bottle with white printed label and give it a shake.", + "Hold the brown bottle with green screw-on cap steady, then shake it.", + "Take the brown bottle with white printed label using the left arm and give it a shake.", + "Pick the brown bottle up with the left arm and shake.", + "Lift the green-capped bottle with the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle with ribbed pattern and shake it.", + "Grab the green-capped bottle with the left arm and shake.", + "Use the left arm to pick and shake the brown bottle.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Catch the green-capped bottle and shake it instantly.", + "Shake the bottle with green cap thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth plastic bottle for beverages.", + "Secure the smooth plastic bottle for beverages and perform a shake.", + "Pick up the brown bottle and shake it well.", + "Grab the brown bottle with white printed label carefully and shake.", + "Using the left arm, shake the brown bottle and then place it back.", + "Shake the green-capped bottle after holding it firmly.", + "Grab and shake the small drink bottle with logo using the left arm.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Grab the cylindrical bottle with white label firmly, shake it, and put it down.", + "Grip the brown bottle using the left arm and shake.", + "Hold the cylindrical bottle with white label with the left arm and shake lightly.", + "Pick the green-capped bottle and perform shaking motion.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Grab the small brown plastic bottle and move it to shake.", + "Utilize the left arm to hold the brown bottle and shake it.", + "Use the left arm to grab the bottle with tapered cylindrical shape and shake properly.", + "Lift the brown bottle with the left arm and shake.", + "Grasp the brown bottle with white printed label with the left arm and shake it.", + "Secure the plastic bottle with ribbed pattern, shake it, and place it down.", + "Pick the cylindrical bottle with white label up using the left arm and shake it.", + "Hold the bottle with green cap and shake it properly.", + "Lift the brown bottle with the left arm and shake it.", + "Shake the hand-sized bottle with grooves after lifting it.", + "Grab the hand-sized bottle with grooves and shake it steadily.", + "Hold the plastic bottle with ribbed pattern, shake it briefly.", + "Lift up the brown bottle with green screw-on cap using the left arm, then shake.", + "Lift the cylindrical bottle with white label and shake it gently.", + "With the left arm, pick the bottle with green cap and shake properly.", + "Shake the the brown bottle with green screw-on cap properly after lifting.", + "Shake the plastic bottle with ribbed pattern firmly after grabbing.", + "Pick the brown bottle, shake it with the left arm.", + "Shake the small brown plastic bottle using the left arm after grabbing.", + "Pick up the green-capped bottle and shake it.", + "Use the left arm to hold the small brown plastic bottle and shake it.", + "Hold and shake the the brown bottle carefully.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Grab the brown bottle using the left arm, then shake.", + "Grab the bottle with tapered cylindrical shape and give it a shake.", + "Hold the bottle with green cap steady, then shake it.", + "Take the plastic bottle with ribbed pattern using the left arm and give it a shake.", + "Pick the small drink bottle with logo up with the left arm and shake.", + "Lift the plastic bottle with ribbed pattern with the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle with ribbed pattern and shake it.", + "Grab the brown bottle with white printed label with the left arm and shake." + ], + "unseen": [ + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Pick up the plastic Starbucks bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode486.json b/shake_bottle/ur5_randomized_500/instructions/episode486.json new file mode 100644 index 0000000000000000000000000000000000000000..02f1917a5fd1c70df6dee57985296e40fd1a17c8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode486.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Grab the green bottle with indented base and give it a shake.", + "Secure the smooth green plastic bottle and perform a shake.", + "Pick the handheld green bottle, shake it with the right arm.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Shake the medium green bottle after grabbing it.", + "Shake the medium green bottle after lifting it.", + "Hold the bottle with ridges near base, shake it briefly.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Pick the bottle with white printed label and perform shaking motion.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Lift the plastic bottle and shake it gently.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Grip the bottle with white printed label using the right arm and shake.", + "Catch the smooth green bottle and shake it instantly.", + "Pick up the smooth green bottle and shake it.", + "Grab the bottle with rounded neck carefully and shake.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Grab the handheld green bottle and move it to shake.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Use the right arm to hold the plastic bottle and shake it.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Hold and shake the the bottle with rounded neck carefully.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Grab and shake the green bottle with indented base using the right arm.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grab the bottle with white printed label and shake it steadily.", + "Pick the smooth green bottle up with the right arm and shake.", + "Grab the bottle with white printed label with the right arm and shake.", + "Lift the green bottle with indented base with the right arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Shake the bottle with narrow top after holding it firmly.", + "Shake the the smooth green bottle properly after lifting.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Hold the medium-sized green bottle with the right arm and shake lightly.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Secure the bottle with rounded neck and perform a shake.", + "Pick the smooth green plastic bottle, shake it with the right arm.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the handheld green bottle after lifting it.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Lift the bottle with rounded neck and shake it gently.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Grip the bottle with narrow top using the right arm and shake.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Pick up the medium green bottle and shake it.", + "Grab the green bottle with indented base carefully and shake.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grab the bottle with white printed label and move it to shake.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Use the right arm to pick and shake the medium green bottle.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Hold and shake the the handheld green bottle carefully.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Hold the bottle with white printed label steady, then shake it.", + "Grab and shake the green bottle with indented base using the right arm.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Shake the medium green bottle firmly after grabbing.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grab the bottle with ridges near base and shake it steadily.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Lift the smooth green bottle with the right arm and shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the green bottle with indented base after holding it firmly.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Hold the smooth green plastic bottle and shake it properly." + ], + "unseen": [ + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode487.json b/shake_bottle/ur5_randomized_500/instructions/episode487.json new file mode 100644 index 0000000000000000000000000000000000000000..65f94648340de626e16f07bb06d6ce16264a37e9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode487.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium green bottle and move it to shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Hold the smooth green plastic bottle and shake it properly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the smooth green plastic bottle after lifting it.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Grip the green bottle with indented base using the left arm and shake.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Use the left arm to lift and shake the medium green bottle.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Lift the smooth green bottle with the left arm and shake.", + "Shake the medium green bottle after holding it firmly.", + "Grab the smooth green bottle and give it a shake.", + "Secure the bottle with ridges near base and perform a shake.", + "Grab the medium green bottle using the left arm, then shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Hold the green bottle with indented base, shake it briefly.", + "Catch the bottle with narrow top and shake it instantly.", + "Shake the medium green bottle after grabbing it.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grab the bottle with narrow top carefully and shake.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Grab the medium green bottle and shake it steadily.", + "Pick up the green bottle with indented base and shake it well.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick the green bottle with indented base and perform shaking motion.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Pick up the plastic bottle and shake it.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Shake the handheld green bottle after grabbing it.", + "Hold the bottle with narrow top steady, then shake it.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Pick the plastic bottle, shake it with the left arm.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Shake the handheld green bottle firmly after grabbing.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Lift up the medium green bottle using the left arm, then shake.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Grab the smooth green bottle with the left arm and shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Lift the bottle with narrow top and shake it gently.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Grip the bottle with white printed label using the left arm and shake.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Hold and shake the the smooth green bottle carefully.", + "Use the left arm to lift and shake the smooth green bottle.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Grab the smooth green plastic bottle and give it a shake.", + "Secure the bottle with narrow top and perform a shake.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Hold the smooth green bottle, shake it briefly.", + "Catch the green bottle with indented base and shake it instantly.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Grab the medium-sized green bottle carefully and shake.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Grab the bottle with ridges near base and shake it steadily.", + "Pick up the smooth green plastic bottle and shake it well.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Pick the green bottle with indented base and perform shaking motion.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Pick up the medium green bottle with capped neck and shake it.", + "Secure the medium green bottle, shake it, and place it down.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Shake the green bottle with indented base after grabbing it.", + "Hold the medium-sized green bottle steady, then shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Shake the handheld green bottle firmly after grabbing.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Use the left arm to hold the medium green bottle and shake it." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode488.json b/shake_bottle/ur5_randomized_500/instructions/episode488.json new file mode 100644 index 0000000000000000000000000000000000000000..c37e5989135e8dadce2ef970104e167edf54c047 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode488.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with flat sides and logo and perform a shake.", + "Pick the medium bottle with glossy surface and perform shaking motion.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the smooth plastic bottle with white cap firmly after grabbing.", + "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.", + "Lift the bottle with green cap and shake it thoroughly.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Use the right arm to grab the bottle with flat sides and logo and shake it.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Shake the medium bottle with glossy surface after lifting it.", + "Grab the rectangular-shaped bottle with round cap using the right arm, then shake.", + "Grab the smooth plastic bottle with white cap with the right arm and shake.", + "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.", + "Grab the medium bottle with glossy surface and give it a shake.", + "Pick the smooth brown bottle with green label up with the right arm and shake.", + "Utilize the right arm to hold the medium-sized brown plastic bottle and shake it.", + "Use the right arm to lift and shake the medium-sized brown plastic bottle.", + "Using the right arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Grab the plastic bottle carefully and shake.", + "Lift up the rectangular brown body with white top using the right arm, then shake.", + "Pick up the medium bottle with glossy surface and shake it well.", + "Lift the medium-sized brown plastic bottle with the right arm and shake.", + "Pick the smooth plastic bottle with white cap up using the right arm and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Lift the medium-sized brown plastic bottle with the right arm and shake it.", + "Shake the the medium bottle with glossy surface properly after lifting.", + "Pick up the bottle with green cap and shake it.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "Hold the brown bottle with rounded rectangular shape steady, then shake it.", + "Use the right arm to grab the medium bottle with glossy surface and shake properly.", + "Grab and shake the medium-sized brown plastic bottle using the right arm.", + "Lift the bottle with flat sides and logo with the right arm and give it a shake.", + "Lift the rectangular brown body with white top and shake it gently.", + "Secure the smooth brown bottle with green label, shake it, and place it down.", + "Grip the bottle with green cap using the right arm and shake.", + "Shake the bottle with flat sides and logo after holding it firmly.", + "Catch the medium-sized brown plastic bottle and shake it instantly.", + "Shake the smooth brown bottle with green label after grabbing it.", + "Grab the bottle with flat sides and logo and move it to shake.", + "Take the rectangular brown body with white top using the right arm and give it a shake.", + "Use the right arm to hold the bottle with green cap and shake it.", + "Hold the medium-sized brown plastic bottle and shake it properly.", + "Shake the brown bottle with rounded rectangular shape using the right arm after grabbing.", + "Grab the rectangular brown body with white top and shake it steadily.", + "Hold the bottle with flat sides and logo, shake it briefly.", + "With the right arm, pick the dark brown bottle with a squared body and shake properly.", + "Hold the rectangular-shaped bottle with round cap with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with flat sides and logo.", + "Secure the bottle with green cap and perform a shake.", + "Pick the smooth plastic bottle with white cap and perform shaking motion.", + "Grasp the bottle with flat sides and logo with the right arm and shake it.", + "Shake the smooth brown bottle with green label firmly after grabbing.", + "Use the right arm to lift and shake the smooth brown bottle with green label.", + "Lift the bottle with flat sides and logo and shake it thoroughly.", + "Shake the smooth plastic bottle with white cap after grabbing it.", + "Use the right arm to grab the smooth plastic bottle with white cap and shake it.", + "Hold and shake the the bottle with green cap carefully.", + "Shake the medium bottle with glossy surface after lifting it.", + "Grab the plastic bottle using the right arm, then shake.", + "Grab the rectangular brown body with white top with the right arm and shake.", + "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.", + "Grab the smooth plastic bottle with white cap and give it a shake.", + "Pick the rectangular-shaped bottle with round cap up with the right arm and shake.", + "Utilize the right arm to hold the bottle with flat sides and logo and shake it.", + "Use the right arm to lift and shake the rectangular brown body with white top.", + "Using the right arm, shake the smooth plastic bottle with white cap and then place it back.", + "Shake the bottle with green cap after grabbing it.", + "Grab the brown bottle carefully and shake.", + "Lift up the bottle with flat sides and logo using the right arm, then shake.", + "Pick up the bottle with green cap and shake it well.", + "Lift the plastic bottle with the right arm and shake.", + "Pick the medium-sized brown plastic bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the smooth brown bottle with green label.", + "Lift the medium bottle with glossy surface with the right arm and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Pick up the bottle with green cap and shake it.", + "Pick the bottle with flat sides and logo, shake it with the right arm.", + "Shake the rectangular-shaped bottle with round cap thoroughly after grabbing it.", + "Hold the plastic bottle steady, then shake it.", + "Use the right arm to grab the dark brown bottle with a squared body and shake properly.", + "Grab and shake the medium-sized brown plastic bottle using the right arm.", + "Lift the bottle with flat sides and logo with the right arm and give it a shake.", + "Lift the rectangular brown body with white top and shake it gently.", + "Secure the brown bottle, shake it, and place it down.", + "Grip the medium-sized brown plastic bottle using the right arm and shake.", + "Shake the rectangular-shaped bottle with round cap after holding it firmly.", + "Catch the bottle with flat sides and logo and shake it instantly.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Grab the smooth plastic bottle with white cap and move it to shake.", + "Take the brown bottle using the right arm and give it a shake.", + "Use the right arm to hold the medium bottle with glossy surface and shake it.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "Shake the smooth brown bottle with green label using the right arm after grabbing.", + "Grab the brown bottle with rounded rectangular shape and shake it steadily.", + "Hold the brown bottle, shake it briefly.", + "With the right arm, pick the brown bottle and shake properly.", + "Hold the rectangular-shaped bottle with round cap with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with flat sides and logo." + ], + "unseen": [ + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the liquid container dark brown plastic and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the right arm to pick the liquid container dark brown plastic.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized plastic bottle with capped top.", + "Shake the bottle with green label and white lid after picking it with the right arm.", + "Pick up the bottle with green label and white lid with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green label and white lid.", + "Shake the liquid container dark brown plastic after picking it with the right arm.", + "Pick up the liquid container dark brown plastic with the right arm and shake.", + "Use the right arm to grab the bottle with green label and white lid and shake.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick and shake the the liquid container dark brown plastic with the right arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode489.json b/shake_bottle/ur5_randomized_500/instructions/episode489.json new file mode 100644 index 0000000000000000000000000000000000000000..9d9e02a85c57e5d19bc92c4937b70ecf67390a04 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode489.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Shake the plastic bottle after lifting it.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Hold the plastic bottle and shake it properly.", + "Grip the bottle with white cap using the right arm and shake.", + "Grab the bottle with green label and move it to shake.", + "Grab the yellow bottle with a green design using the right arm, then shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Use the right arm to hold the yellow bottle with a green design and shake it.", + "Use the right arm to lift and shake the bottle with white cap.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the yellow container with rounded edges with the right arm and shake.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Using the right arm, shake the smooth bottle with rounded edges and then place it back.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Grasp the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Lift the yellow container with rounded edges with the right arm and give it a shake.", + "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Hold the yellow bottle with a green design with the right arm and shake lightly.", + "Utilize the right arm to hold the yellow plastic bottle with white top and shake it.", + "Use the right arm to grab the yellow container with rounded edges and shake properly.", + "Grab and shake the bottle with green label using the right arm.", + "Lift the yellow container with rounded edges with the right arm and shake.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Shake the smooth bottle with rounded edges firmly after grabbing.", + "Grab the yellow plastic bottle with white top carefully and shake.", + "Shake the the yellow bottle properly after lifting.", + "Take the smooth bottle with rounded edges using the right arm and give it a shake.", + "Shake the yellow container with rounded edges after grabbing it.", + "Use the right arm to pick and shake the bottle with green and white labels.", + "Pick up the bottle with green and white labels and shake it.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Catch the bottle with green and white labels and shake it instantly.", + "Use the right arm to grab the yellow container with rounded edges and shake it.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Pick the plastic bottle, shake it with the right arm.", + "Hold the rectangular bottle with cylindrical neck steady, then shake it.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Pick the bottle with green label up with the right arm and shake.", + "Lift up the yellow container with rounded edges using the right arm, then shake.", + "Shake the plastic bottle after holding it firmly.", + "Shake the yellow container with rounded edges after grabbing it.", + "Grab the yellow container with rounded edges and give it a shake.", + "Pick the rectangular bottle with cylindrical neck up using the right arm and shake it.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "With the right arm, pick the bottle with green label and shake properly.", + "Hold the bottle with white cap and shake it properly.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the bottle with green and white labels and move it to shake.", + "Grab the yellow plastic bottle with white top using the right arm, then shake.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Use the right arm to hold the yellow bottle and shake it.", + "Use the right arm to lift and shake the yellow container with rounded edges.", + "Grab the bottle with a smooth plastic body and shake it steadily.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Grab the plastic bottle with the right arm and shake.", + "Secure the bottle with a smooth plastic body and perform a shake.", + "Using the right arm, shake the bottle with a smooth plastic body and then place it back.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Lift the medium rectangular yellow bottle and shake it thoroughly.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Grasp the yellow plastic bottle with white top with the right arm and shake it.", + "Lift the yellow plastic bottle with white top with the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Hold the yellow bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Use the right arm to grab the bottle with green and white labels and shake properly.", + "Grab and shake the yellow plastic bottle with white top using the right arm.", + "Lift the yellow bottle with the right arm and shake.", + "Pick up the yellow container with rounded edges and shake it well.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Grab the yellow bottle with a green design carefully and shake.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Take the yellow plastic bottle with white top using the right arm and give it a shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Use the right arm to pick and shake the bottle with a smooth plastic body.", + "Pick up the yellow container with rounded edges and shake it.", + "Hold the yellow plastic bottle with white top, shake it briefly.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Use the right arm to grab the yellow bottle with a green design and shake it.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick the yellow bottle with a green design, shake it with the right arm.", + "Hold the bottle with green label steady, then shake it.", + "Hold and shake the the plastic bottle carefully.", + "Pick the bottle with green and white labels up with the right arm and shake.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Shake the smooth bottle with rounded edges after holding it firmly.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Pick the smooth bottle with rounded edges up using the right arm and shake it." + ], + "unseen": [ + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode49.json b/shake_bottle/ur5_randomized_500/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..0c6cb264395258f930530b287935893e1d983c2b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the handheld brown bottle with white lid using the left arm.", + "Lift the medium bottle with smooth texture with the left arm and shake it.", + "Use the left arm to lift and shake the medium plastic bottle.", + "Pick the plastic bottle for liquids and perform shaking motion.", + "Grab the handheld brown bottle with white lid and give it a shake.", + "Shake the plastic bottle for liquids after grabbing it.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.", + "Secure the plastic bottle with printed label and perform a shake.", + "With the left arm, pick the smooth brown bottle and shake properly.", + "Hold the medium plastic bottle, shake it briefly.", + "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.", + "Shake the bottle with dark brown color after lifting it.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Shake the medium plastic bottle after holding it firmly.", + "Lift the plastic bottle for liquids and shake it gently.", + "Hold the plastic bottle with printed label steady, then shake it.", + "Hold the plastic bottle with printed label with the left arm and shake lightly.", + "Utilize the left arm to hold the medium plastic bottle and shake it.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Catch the bottle with dark brown color and shake it instantly.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Shake the plastic bottle with printed label after grabbing it.", + "Pick the white-capped brown cylindrical bottle up using the left arm and shake it.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Lift the bottle with brown body and white top with the left arm and shake.", + "Pick the medium bottle with smooth texture, shake it with the left arm.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Using the left arm, shake the bottle with dark brown color and then place it back.", + "Use the left arm to pick and shake the medium bottle with smooth texture.", + "Hold the bottle with white cap and shake it properly.", + "Grab the bottle with white cap and shake it steadily.", + "Shake the smooth brown bottle thoroughly after grabbing it.", + "Grab the medium plastic bottle carefully and shake.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Pick the smooth brown bottle up with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Grab the plastic bottle for liquids with the left arm and shake.", + "Grab the bottle with dark brown color and move it to shake.", + "Shake the the bottle with white cap properly after lifting.", + "Lift the bottle with white cap with the left arm and give it a shake.", + "Lift up the cylindrical bottle with narrow neck using the left arm, then shake.", + "Grip the cylindrical bottle with narrow neck using the left arm and shake.", + "Use the left arm to lift and shake the bottle with dark brown color.", + "Use the left arm to grab the medium bottle with smooth texture and shake it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Shake the bottle with dark brown color using the left arm after grabbing.", + "Grab the handheld brown bottle with white lid using the left arm, then shake.", + "Pick up the bottle with dark brown color and shake it.", + "Hold and shake the the medium plastic bottle carefully.", + "Grab and shake the rounded bottle with printed details using the left arm.", + "Lift the bottle with brown body and white top with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle for liquids.", + "Pick the plastic bottle with printed label and perform shaking motion.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Take the plastic bottle with printed label using the left arm and give it a shake.", + "Secure the rounded bottle with printed details and perform a shake.", + "With the left arm, pick the bottle with white cap and shake properly.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Shake the rounded bottle with printed details after lifting it.", + "Secure the cylindrical bottle with narrow neck, shake it, and place it down.", + "Shake the bottle with dark brown color after holding it firmly.", + "Lift the medium plastic bottle and shake it gently.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Hold the smooth brown bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the bottle with brown body and white top and shake it.", + "Pick up the handheld brown bottle with white lid and shake it well.", + "Catch the bottle with dark brown color and shake it instantly.", + "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Pick the medium bottle with smooth texture up using the left arm and shake it.", + "Grasp the cylindrical bottle with narrow neck with the left arm and shake it.", + "Lift the plastic bottle for liquids with the left arm and shake.", + "Pick the rounded bottle with printed details, shake it with the left arm.", + "Use the left arm to hold the cylindrical bottle with narrow neck and shake it.", + "Using the left arm, shake the rounded bottle with printed details and then place it back.", + "Use the left arm to pick and shake the bottle with white cap.", + "Hold the rounded bottle with printed details and shake it properly.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Grab the smooth brown bottle carefully and shake.", + "Shake the medium bottle with smooth texture firmly after grabbing.", + "Pick the rounded bottle with printed details up with the left arm and shake.", + "Use the left arm to lift and shake the white-capped brown cylindrical bottle.", + "Grab the bottle with white cap with the left arm and shake.", + "Grab the plastic bottle for liquids and move it to shake.", + "Shake the the rounded bottle with printed details properly after lifting.", + "Lift the bottle with dark brown color with the left arm and give it a shake.", + "Lift up the rounded bottle with printed details using the left arm, then shake.", + "Grip the handheld brown bottle with white lid using the left arm and shake.", + "Use the left arm to lift and shake the handheld brown bottle with white lid.", + "Use the left arm to grab the medium bottle with smooth texture and shake it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Shake the handheld brown bottle with white lid using the left arm after grabbing.", + "Grab the bottle with brown body and white top using the left arm, then shake.", + "Pick up the medium plastic bottle and shake it.", + "Hold and shake the the plastic bottle for liquids carefully." + ], + "unseen": [ + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode490.json b/shake_bottle/ur5_randomized_500/instructions/episode490.json new file mode 100644 index 0000000000000000000000000000000000000000..05bb501c6c16d14916c089da3308f88a9bc97f3b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode490.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the rounded body bottle made of plastic and shake it gently.", + "Grab the bottle shaped like small cylinder and move it to shake.", + "Use the right arm to lift and shake the gray bottle with slight shine.", + "Grab the hand-sized bottle with screw cap and give it a shake.", + "Shake the gray bottle with slight shine after grabbing it.", + "Take the rounded body bottle made of plastic using the right arm and give it a shake.", + "Shake the light gray colored container bottle firmly after grabbing.", + "Hold the plastic bottle with ghost print steady, then shake it.", + "Grasp the hand-sized bottle with screw cap with the right arm and shake it.", + "Pick the smooth surface bottle with gray shade up with the right arm and shake.", + "Shake the smooth surface bottle with gray shade thoroughly after grabbing it.", + "Utilize the right arm to hold the medium cylinder-shaped bottle and shake it.", + "Use the right arm to hold the light gray colored container bottle and shake it.", + "Pick the smooth surface bottle with gray shade up using the right arm and shake it.", + "Pick the hand-sized bottle with screw cap, shake it with the right arm.", + "Grab the bottle shaped like small cylinder using the right arm, then shake.", + "Grab the light gray colored container bottle and shake it steadily.", + "Lift the bottle shaped like small cylinder with the right arm and give it a shake.", + "Grab the milk-bottle shape design with the right arm and shake.", + "Grab the medium cylinder-shaped bottle firmly, shake it, and put it down.", + "Use the right arm to grab the smooth surface bottle with gray shade and shake it.", + "Shake the the light gray colored container bottle properly after lifting.", + "Use the right arm to grab the plastic bottle with ghost print and shake properly.", + "Lift the medium-sized plastic bottle and shake it thoroughly.", + "Pick the light gray colored container bottle and perform shaking motion.", + "Pick up the medium cylinder-shaped bottle and shake it well.", + "Shake the plastic bottle with ghost print after grabbing it.", + "With the right arm, pick the medium-sized plastic bottle and shake properly.", + "Catch the hand-sized bottle with screw cap and shake it instantly.", + "Hold the bottle shaped like small cylinder, shake it briefly.", + "Secure the hand-sized bottle with screw cap and perform a shake.", + "Using the right arm, shake the light gray colored container bottle and then place it back.", + "Grab the bottle with cute ghost drawing carefully and shake.", + "Shake the plastic bottle with ghost print after holding it firmly.", + "Use the right arm to pick and shake the smooth cylindrical bottle.", + "Use the right arm to lift and shake the smooth cylindrical bottle.", + "Shake the hand-sized bottle with screw cap using the right arm after grabbing.", + "Secure the smooth surface bottle with gray shade, shake it, and place it down.", + "Grip the milk-bottle shape design using the right arm and shake.", + "Use the right arm to lift and shake the smooth cylindrical bottle.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Shake the plastic bottle with ghost print after lifting it.", + "Pick up the milk-bottle shape design and shake it.", + "Hold and shake the the light gray colored container bottle carefully.", + "Lift the medium-sized plastic bottle with the right arm and shake it.", + "Lift the bottle with cute ghost drawing with the right arm and shake.", + "Lift up the light gray colored container bottle using the right arm, then shake.", + "Grab and shake the smooth cylindrical bottle using the right arm.", + "Hold the hand-sized bottle with screw cap and shake it properly.", + "Hold the bottle shaped like small cylinder with the right arm and shake lightly.", + "Lift the bottle with cute ghost drawing and shake it gently.", + "Grab the rounded body bottle made of plastic and move it to shake.", + "Use the right arm to lift and shake the milk-bottle shape design.", + "Grab the medium-sized plastic bottle and give it a shake.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Take the bottle shaped like small cylinder using the right arm and give it a shake.", + "Shake the smooth surface bottle with gray shade firmly after grabbing.", + "Hold the rounded body bottle made of plastic steady, then shake it.", + "Grasp the milk-bottle shape design with the right arm and shake it.", + "Pick the rounded body bottle made of plastic up with the right arm and shake.", + "Shake the smooth cylindrical bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the hand-sized bottle with screw cap and shake it.", + "Use the right arm to hold the smooth surface bottle with gray shade and shake it.", + "Pick the rounded body bottle made of plastic up using the right arm and shake it.", + "Pick the milk-bottle shape design, shake it with the right arm.", + "Grab the medium-sized plastic bottle using the right arm, then shake.", + "Grab the medium cylinder-shaped bottle and shake it steadily.", + "Lift the smooth surface bottle with gray shade with the right arm and give it a shake.", + "Grab the hand-sized bottle with screw cap with the right arm and shake.", + "Grab the plastic bottle with ghost print firmly, shake it, and put it down.", + "Use the right arm to grab the medium cylinder-shaped bottle and shake it.", + "Shake the the plastic bottle with ghost print properly after lifting.", + "Use the right arm to grab the hand-sized bottle with screw cap and shake properly.", + "Lift the plastic bottle with ghost print and shake it thoroughly.", + "Pick the smooth cylindrical bottle and perform shaking motion.", + "Pick up the gray bottle with slight shine and shake it well.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "With the right arm, pick the medium cylinder-shaped bottle and shake properly.", + "Catch the bottle shaped like small cylinder and shake it instantly.", + "Hold the hand-sized bottle with screw cap, shake it briefly.", + "Secure the bottle with cute ghost drawing and perform a shake.", + "Using the right arm, shake the medium cylinder-shaped bottle and then place it back.", + "Grab the smooth cylindrical bottle carefully and shake.", + "Shake the plastic bottle with ghost print after holding it firmly.", + "Use the right arm to pick and shake the bottle with cute ghost drawing.", + "Use the right arm to lift and shake the milk-bottle shape design.", + "Shake the smooth surface bottle with gray shade using the right arm after grabbing.", + "Secure the smooth surface bottle with gray shade, shake it, and place it down.", + "Grip the smooth surface bottle with gray shade using the right arm and shake.", + "Use the right arm to lift and shake the medium cylinder-shaped bottle.", + "Shake the milk-bottle shape design after grabbing it.", + "Shake the rounded body bottle made of plastic after lifting it.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Hold and shake the the plastic bottle with ghost print carefully.", + "Lift the plastic bottle with ghost print with the right arm and shake it.", + "Lift the smooth cylindrical bottle with the right arm and shake.", + "Lift up the bottle with cute ghost drawing using the right arm, then shake.", + "Grab and shake the gray bottle with slight shine using the right arm.", + "Hold the smooth surface bottle with gray shade and shake it properly.", + "Hold the medium-sized plastic bottle with the right arm and shake lightly." + ], + "unseen": [ + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Pick up the light gray bottle with the right arm and shake.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle with the right arm and shake.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the light gray bottle and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the right arm to pick the light gray bottle.", + "Pick up the light gray bottle with the right arm and shake.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Use the right arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Pick up the light gray bottle and shake it.", + "Use the right arm to pick the light gray bottle.", + "Pick up the light gray bottle with the right arm and shake.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top and give it a shake.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the right arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle and give it a shake.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Use the right arm to grab the gray bottle for holding drinks and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode491.json b/shake_bottle/ur5_randomized_500/instructions/episode491.json new file mode 100644 index 0000000000000000000000000000000000000000..d6d87760699cfaa883806b740ca3873110a431c6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode491.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the bottle with screw cap.", + "Pick the medium-sized bottle up with the right arm and shake.", + "Hold the bottle for liquid with the right arm and shake lightly.", + "Pick the medium plastic bottle with cap and perform shaking motion.", + "Grab the yellow bottle carefully and shake.", + "Shake the handheld curvy bottle after grabbing it.", + "Hold the yellow bottle with blue label, shake it briefly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Secure the bottle with screw cap, shake it, and place it down.", + "Pick the handheld curvy bottle, shake it with the right arm.", + "Grab the plastic bottle and move it to shake.", + "Shake the yellow bottle with blue label using the right arm after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Shake the medium-sized bottle after holding it firmly.", + "Grab the handheld curvy bottle with the right arm and shake.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Hold the plastic bottle with curved sides steady, then shake it.", + "Lift the medium plastic bottle with cap and shake it thoroughly.", + "Grab the yellow bottle with dark label firmly, shake it, and put it down.", + "Lift the yellow bottle for liquid storage with the right arm and shake it.", + "With the right arm, pick the handheld curvy bottle and shake properly.", + "Lift the yellow bottle with blue label with the right arm and shake.", + "Grab the bottle for liquid and give it a shake.", + "Use the right arm to grab the medium-sized bottle and shake it.", + "Hold and shake the the handheld curvy bottle carefully.", + "Lift the smooth plastic bottle and shake it gently.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the medium plastic bottle with cap and shake it steadily.", + "Lift up the bottle for liquid using the right arm, then shake.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Shake the the bottle for liquid properly after lifting.", + "Pick up the smooth plastic bottle and shake it.", + "Grip the medium-sized bottle using the right arm and shake.", + "Shake the yellow bottle with dark label after grabbing it.", + "Use the right arm to pick and shake the plastic bottle.", + "Catch the handheld curvy bottle and shake it instantly.", + "Secure the bottle for liquid and perform a shake.", + "Grab and shake the smooth plastic bottle using the right arm.", + "Lift the medium-sized bottle with the right arm and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Pick the medium plastic bottle with cap up using the right arm and shake it.", + "Using the right arm, shake the yellow bottle and then place it back.", + "Use the right arm to hold the plastic bottle and shake it.", + "Use the right arm to lift and shake the bottle for liquid.", + "Utilize the right arm to hold the plastic bottle with curved sides and shake it.", + "Grab the yellow bottle for liquid storage using the right arm, then shake.", + "Take the yellow bottle with blue label using the right arm and give it a shake.", + "Hold the medium plastic bottle with cap and shake it properly.", + "Shake the plastic bottle after lifting it.", + "Shake the yellow bottle for liquid storage firmly after grabbing.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Pick the handheld curvy bottle up with the right arm and shake.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Pick the plastic bottle with curved sides and perform shaking motion.", + "Grab the handheld curvy bottle carefully and shake.", + "Shake the medium-sized bottle after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Secure the bottle for liquid, shake it, and place it down.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Grab the bottle with screw cap and move it to shake.", + "Shake the medium-sized bottle using the right arm after grabbing.", + "Shake the medium-sized bottle after grabbing it.", + "Shake the yellow bottle after holding it firmly.", + "Grab the plastic bottle with curved sides with the right arm and shake.", + "Grasp the medium-sized bottle with the right arm and shake it.", + "Hold the yellow bottle for liquid storage steady, then shake it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Lift the medium plastic bottle with cap with the right arm and shake it.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Lift the handheld curvy bottle with the right arm and shake.", + "Grab the medium-sized bottle and give it a shake.", + "Use the right arm to grab the smooth plastic bottle and shake it.", + "Hold and shake the the plastic bottle with curved sides carefully.", + "Lift the yellow bottle with blue label and shake it gently.", + "Use the right arm to grab the yellow bottle with dark label and shake properly.", + "Grab the handheld curvy bottle and shake it steadily.", + "Lift up the yellow bottle with blue label using the right arm, then shake.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Shake the the handheld curvy bottle properly after lifting.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grip the bottle with screw cap using the right arm and shake.", + "Shake the handheld curvy bottle after grabbing it.", + "Use the right arm to pick and shake the plastic bottle.", + "Catch the handheld curvy bottle and shake it instantly.", + "Secure the plastic bottle with curved sides and perform a shake.", + "Grab and shake the yellow bottle for liquid storage using the right arm.", + "Lift the yellow bottle for liquid storage with the right arm and give it a shake.", + "Pick up the yellow bottle with blue label and shake it well.", + "Pick the handheld curvy bottle up using the right arm and shake it.", + "Using the right arm, shake the yellow bottle with dark label and then place it back.", + "Use the right arm to hold the medium-sized bottle and shake it.", + "Use the right arm to lift and shake the yellow bottle for liquid storage.", + "Utilize the right arm to hold the bottle for liquid and shake it.", + "Grab the yellow bottle with dark label using the right arm, then shake.", + "Take the bottle for liquid using the right arm and give it a shake.", + "Hold the bottle for liquid and shake it properly.", + "Shake the yellow bottle with dark label after lifting it.", + "Shake the medium-sized bottle firmly after grabbing." + ], + "unseen": [ + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode492.json b/shake_bottle/ur5_randomized_500/instructions/episode492.json new file mode 100644 index 0000000000000000000000000000000000000000..95f1d41b7ab81358c3e26f4607233b56f1156a1b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode492.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with green and white labels steady, then shake it.", + "Pick the smooth bottle with rounded edges up using the right arm and shake it.", + "Lift the smooth bottle with rounded edges with the right arm and shake.", + "Lift up the bottle with green label using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the the yellow container with rounded edges properly after lifting.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Use the right arm to lift and shake the bottle with green and white labels.", + "Grab the plastic bottle and shake it steadily.", + "Pick the medium rectangular yellow bottle and perform shaking motion.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Using the right arm, shake the yellow container with rounded edges and then place it back.", + "Pick up the bottle with green label and shake it well.", + "Shake the bottle with white cap after grabbing it.", + "Pick up the yellow bottle with a green design and shake it.", + "Hold the medium rectangular yellow bottle with the right arm and shake lightly.", + "Lift the plastic bottle and shake it thoroughly.", + "Catch the yellow bottle and shake it instantly.", + "Use the right arm to hold the bottle with a smooth plastic body and shake it.", + "Take the rectangular bottle with cylindrical neck using the right arm and give it a shake.", + "Shake the bottle with green label after holding it firmly.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Lift the smooth bottle with rounded edges with the right arm and shake it.", + "Pick the yellow container with rounded edges, shake it with the right arm.", + "Shake the rectangular bottle with cylindrical neck firmly after grabbing.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Grab the yellow bottle carefully and shake.", + "Shake the bottle with white cap after lifting it.", + "Grab the bottle with green and white labels and give it a shake.", + "Grab the bottle with green label with the right arm and shake.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Grasp the yellow plastic bottle with white top with the right arm and shake it.", + "Hold the yellow plastic bottle with white top and shake it properly.", + "Pick the yellow plastic bottle with white top up with the right arm and shake.", + "Grip the plastic bottle using the right arm and shake.", + "Lift the rectangular bottle with cylindrical neck with the right arm and give it a shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Use the right arm to pick and shake the yellow bottle with a green design.", + "Utilize the right arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Use the right arm to lift and shake the yellow plastic bottle with white top.", + "Use the right arm to grab the bottle with white cap and shake it.", + "With the right arm, pick the bottle with green and white labels and shake properly.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Grab the yellow plastic bottle with white top using the right arm, then shake.", + "Grab and shake the yellow bottle using the right arm.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Hold and shake the the bottle with green and white labels carefully.", + "Shake the yellow bottle using the right arm after grabbing.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Pick the yellow bottle up using the right arm and shake it.", + "Lift the bottle with a smooth plastic body with the right arm and shake.", + "Lift up the smooth bottle with rounded edges using the right arm, then shake.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Shake the the bottle with white cap properly after lifting.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Grab the yellow plastic bottle with white top and shake it steadily.", + "Pick the yellow container with rounded edges and perform shaking motion.", + "Secure the bottle with white cap and perform a shake.", + "Using the right arm, shake the smooth bottle with rounded edges and then place it back.", + "Pick up the bottle with green label and shake it well.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Pick up the medium rectangular yellow bottle and shake it.", + "Hold the yellow container with rounded edges with the right arm and shake lightly.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Catch the yellow container with rounded edges and shake it instantly.", + "Use the right arm to hold the yellow bottle and shake it.", + "Take the yellow plastic bottle with white top using the right arm and give it a shake.", + "Shake the yellow bottle after holding it firmly.", + "Shake the bottle with green and white labels after grabbing it.", + "Lift the smooth bottle with rounded edges with the right arm and shake it.", + "Pick the yellow bottle, shake it with the right arm.", + "Shake the bottle with green label firmly after grabbing.", + "Hold the yellow plastic bottle with white top, shake it briefly.", + "Grab the bottle with green label carefully and shake.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Grab the smooth bottle with rounded edges and give it a shake.", + "Grab the plastic bottle with the right arm and shake.", + "Secure the bottle with a smooth plastic body, shake it, and place it down.", + "Grasp the plastic bottle with the right arm and shake it.", + "Hold the yellow bottle with a green design and shake it properly.", + "Pick the medium rectangular yellow bottle up with the right arm and shake.", + "Grip the bottle with green and white labels using the right arm and shake.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to pick and shake the bottle with white cap.", + "Utilize the right arm to hold the yellow container with rounded edges and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to grab the bottle with green and white labels and shake it.", + "With the right arm, pick the yellow plastic bottle with white top and shake properly.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Grab the yellow bottle using the right arm, then shake.", + "Grab and shake the bottle with green and white labels using the right arm.", + "Lift the rectangular bottle with cylindrical neck and shake it gently.", + "Hold and shake the the bottle with white cap carefully.", + "Shake the yellow container with rounded edges using the right arm after grabbing.", + "Use the right arm to grab the medium rectangular yellow bottle and shake properly.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Use the right arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode493.json b/shake_bottle/ur5_randomized_500/instructions/episode493.json new file mode 100644 index 0000000000000000000000000000000000000000..5ccdac6fb2e2712ee0e3a7f96426f8fe6397c4cc --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode493.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the white bottle with orange lid up using the left arm and shake it.", + "Shake the medium-sized bottle after holding it firmly.", + "Grasp the white bottle with the left arm and shake it.", + "Pick the smooth bottle, shake it with the left arm.", + "Lift up the cylindrical bottle with red writing using the left arm, then shake.", + "Utilize the left arm to hold the cylindrical bottle with red writing and shake it.", + "Use the left arm to grab the smooth bottle and shake properly.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Hold and shake the the white bottle carefully.", + "Use the left arm to lift and shake the bottle with orange screw cap.", + "Secure the white bottle with red text and perform a shake.", + "Grab the cylindrical bottle with red writing and shake it steadily.", + "Grab the bottle with tapering neck carefully and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Hold the white cylindrical bottle steady, then shake it.", + "Hold the white bottle with red text and shake it properly.", + "Grip the bottle with orange screw cap using the left arm and shake.", + "Pick the white cylindrical bottle up with the left arm and shake.", + "Lift the bottle with tapering neck and shake it gently.", + "Lift the white bottle for liquids with the left arm and shake it.", + "Pick up the white bottle and shake it.", + "Use the left arm to lift and shake the white bottle with red text.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Grab the plastic bottle with the left arm and shake.", + "Shake the the plastic bottle properly after lifting.", + "Shake the white bottle after grabbing it.", + "Shake the handheld white bottle with cap using the left arm after grabbing.", + "Grab the white bottle and move it to shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to grab the plastic bottle and shake it.", + "Hold the white bottle with orange lid, shake it briefly.", + "Hold the bottle with orange screw cap with the left arm and shake lightly.", + "Grab the handheld white bottle with cap firmly, shake it, and put it down.", + "Take the white bottle for liquids using the left arm and give it a shake.", + "Grab and shake the white cylindrical bottle using the left arm.", + "Pick up the smooth bottle and shake it well.", + "Shake the cylindrical bottle with red writing thoroughly after grabbing it.", + "Use the left arm to pick and shake the bottle with orange screw cap.", + "Pick the white cylindrical bottle and perform shaking motion.", + "With the left arm, pick the white bottle for liquids and shake properly.", + "Shake the white bottle for liquids after grabbing it.", + "Lift the white cylindrical bottle with the left arm and shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Catch the white cylindrical bottle and shake it instantly.", + "Secure the handheld white bottle with cap, shake it, and place it down.", + "Lift the white bottle for liquids and shake it thoroughly.", + "Shake the bottle with tapering neck after lifting it.", + "Use the left arm to hold the white bottle and shake it.", + "Grab the smooth bottle and give it a shake.", + "Shake the bottle with tapering neck after grabbing it.", + "Pick the bottle with tapering neck up using the left arm and shake it.", + "Shake the white bottle for liquids after holding it firmly.", + "Grasp the bottle with tapering neck with the left arm and shake it.", + "Pick the white cylindrical bottle, shake it with the left arm.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Utilize the left arm to hold the white bottle with orange lid and shake it.", + "Use the left arm to grab the handheld white bottle with cap and shake properly.", + "Using the left arm, shake the handheld white bottle with cap and then place it back.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Secure the white bottle and perform a shake.", + "Grab the plastic bottle and shake it steadily.", + "Grab the smooth bottle carefully and shake.", + "Shake the white bottle for liquids firmly after grabbing.", + "Hold the cylindrical bottle with red writing steady, then shake it.", + "Hold the white bottle for liquids and shake it properly.", + "Grip the white bottle using the left arm and shake.", + "Pick the bottle with tapering neck up with the left arm and shake.", + "Lift the white cylindrical bottle and shake it gently.", + "Lift the smooth bottle with the left arm and shake it.", + "Pick up the cylindrical bottle with red writing and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the smooth bottle with the left arm and give it a shake.", + "Grab the white cylindrical bottle with the left arm and shake.", + "Shake the the white bottle with orange lid properly after lifting.", + "Shake the cylindrical bottle with red writing after grabbing it.", + "Shake the white bottle with red text using the left arm after grabbing.", + "Grab the white bottle with orange lid and move it to shake.", + "Use the left arm to lift and shake the white bottle.", + "Use the left arm to grab the white bottle for liquids and shake it.", + "Hold the white bottle for liquids, shake it briefly.", + "Hold the bottle with orange screw cap with the left arm and shake lightly.", + "Grab the medium-sized bottle firmly, shake it, and put it down.", + "Take the white bottle with red text using the left arm and give it a shake.", + "Grab and shake the bottle with orange screw cap using the left arm.", + "Pick up the bottle with tapering neck and shake it well.", + "Shake the cylindrical bottle with red writing thoroughly after grabbing it.", + "Use the left arm to pick and shake the smooth bottle.", + "Pick the white cylindrical bottle and perform shaking motion.", + "With the left arm, pick the white bottle with orange lid and shake properly.", + "Shake the medium-sized bottle after grabbing it.", + "Lift the white cylindrical bottle with the left arm and shake.", + "Grab the smooth bottle using the left arm, then shake.", + "Catch the bottle with orange screw cap and shake it instantly.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Lift the white bottle with orange lid and shake it thoroughly.", + "Shake the smooth bottle after lifting it.", + "Use the left arm to hold the handheld white bottle with cap and shake it.", + "Grab the medium-sized bottle and give it a shake.", + "Shake the white cylindrical bottle after grabbing it." + ], + "unseen": [ + "Use the left arm to pick the bottle with orange cap.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with printed label.", + "Grab the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the bottle with orange cap.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with printed label.", + "Grab the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the plastic bottle with printed label and give it a shake.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Use the left arm to pick the bottle with orange cap.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Use the left arm to pick the bottle with orange cap.", + "Grab the plastic bottle with printed label and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with orange cap and give it a shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the bottle with orange cap and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the bottle with orange cap and shake it.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Use the left arm to pick the bottle with glossy surface.", + "Grab the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Grab the bottle with glossy surface and give it a shake.", + "Shake the bottle with orange cap after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode494.json b/shake_bottle/ur5_randomized_500/instructions/episode494.json new file mode 100644 index 0000000000000000000000000000000000000000..39bf70940210c9cfb42b51b622ac8a689dd70511 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode494.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bottle with ridges near base and shake it.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Use the right arm to grab the plastic bottle and shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Shake the the bottle with ridges near base properly after lifting.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the medium green bottle with capped neck after lifting it.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Grab and shake the green bottle with indented base using the right arm.", + "Grip the bottle with white printed label using the right arm and shake.", + "Shake the handheld green bottle after holding it firmly.", + "Hold the handheld green bottle, shake it briefly.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold and shake the the green bottle with indented base carefully.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Catch the bottle with ridges near base and shake it instantly.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the right arm to pick and shake the handheld green bottle.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the green bottle with indented base and shake it gently.", + "Grab the smooth green bottle and move it to shake.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Hold the green bottle with indented base steady, then shake it.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Grab the smooth green bottle using the right arm, then shake.", + "Take the medium green bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Pick the handheld green bottle, shake it with the right arm.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Shake the smooth green bottle firmly after grabbing.", + "Shake the bottle with white printed label after grabbing it.", + "Pick up the medium green bottle and shake it well.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Secure the bottle with ridges near base and perform a shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Pick up the medium green bottle and shake it.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Shake the the medium green bottle properly after lifting.", + "Use the right arm to lift and shake the medium green bottle.", + "Shake the bottle with narrow top after lifting it.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Grip the green bottle with indented base using the right arm and shake.", + "Shake the bottle with rounded neck after holding it firmly.", + "Hold the medium green bottle, shake it briefly.", + "Use the right arm to lift and shake the medium green bottle.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Catch the smooth green bottle and shake it instantly.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to pick and shake the medium green bottle.", + "Shake the plastic bottle after grabbing it.", + "Lift the smooth green plastic bottle and shake it gently.", + "Grab the bottle with white printed label and move it to shake.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Hold the bottle with narrow top steady, then shake it.", + "Shake the medium green bottle using the right arm after grabbing.", + "Grab the bottle with narrow top with the right arm and shake.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Hold the green bottle with indented base and shake it properly.", + "Grab the smooth green plastic bottle and give it a shake.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Take the medium green bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab the bottle with narrow top and shake it steadily.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Hold the smooth green bottle with the right arm and shake lightly.", + "Shake the handheld green bottle firmly after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Pick up the smooth green bottle and shake it well.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Secure the handheld green bottle and perform a shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Using the right arm, shake the bottle with narrow top and then place it back." + ], + "unseen": [ + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode495.json b/shake_bottle/ur5_randomized_500/instructions/episode495.json new file mode 100644 index 0000000000000000000000000000000000000000..d9cb35dbe57486830e0997237d62f2bb7b78da62 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode495.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the cylindrical bottle.", + "Hold the handheld bottle, shake it briefly.", + "Grab the medium bottle for beverages with the left arm and shake.", + "Shake the bottle with blue cap thoroughly after grabbing it.", + "Pick the handheld bottle up with the left arm and shake.", + "Grab the cylindrical bottle and shake it steadily.", + "Pick up the white and blue bottle and shake it well.", + "Shake the cylindrical bottle after grabbing it.", + "Lift the smooth plastic bottle with the left arm and give it a shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Grab the white bottle with blue accents using the left arm, then shake.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Lift the handheld bottle with the left arm and shake it.", + "Use the left arm to grab the bottle for liquids and shake properly.", + "Use the left arm to lift and shake the bottle with blue cap.", + "Pick the handheld bottle, shake it with the left arm.", + "Pick up the cylindrical bottle and shake it.", + "Use the left arm to grab the medium-sized bottle and shake it.", + "Hold and shake the the smooth plastic bottle carefully.", + "Hold the medium-sized bottle steady, then shake it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Grab the cylindrical bottle and give it a shake.", + "Take the blue bottle using the left arm and give it a shake.", + "Shake the the blue bottle properly after lifting.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the medium-sized bottle after lifting it.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Secure the bottle with blue cap and perform a shake.", + "Grab the plastic bottle and move it to shake.", + "With the left arm, pick the white and blue bottle and shake properly.", + "Grip the white bottle with blue accents using the left arm and shake.", + "Lift up the medium-sized bottle using the left arm, then shake.", + "Lift the bottle with blue cap and shake it gently.", + "Lift the blue bottle with label and shake it thoroughly.", + "Utilize the left arm to hold the white bottle with blue accents and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold the medium bottle for beverages with the left arm and shake lightly.", + "Use the left arm to pick and shake the bottle for liquids.", + "Hold the cylindrical bottle and shake it properly.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Using the left arm, shake the handheld bottle and then place it back.", + "Grab the cylindrical bottle carefully and shake.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Shake the medium bottle for beverages firmly after grabbing.", + "Shake the bottle for liquids after grabbing it.", + "Catch the blue bottle with label and shake it instantly.", + "Shake the blue bottle with label after grabbing it.", + "Lift the bottle with blue cap with the left arm and shake.", + "Shake the blue bottle after holding it firmly.", + "Use the left arm to lift and shake the bottle with blue cap.", + "Hold the bottle for liquids, shake it briefly.", + "Grab the medium-sized bottle with the left arm and shake.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Pick the smooth plastic bottle up with the left arm and shake.", + "Grab the medium-sized bottle and shake it steadily.", + "Pick up the white and blue bottle and shake it well.", + "Shake the medium bottle for beverages after grabbing it.", + "Lift the bottle for liquids with the left arm and give it a shake.", + "Secure the blue bottle, shake it, and place it down.", + "Shake the blue bottle using the left arm after grabbing.", + "Grab the medium bottle for beverages using the left arm, then shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Lift the white and blue bottle with the left arm and shake it.", + "Use the left arm to grab the blue bottle with label and shake properly.", + "Use the left arm to lift and shake the white and blue bottle.", + "Pick the white bottle with blue accents, shake it with the left arm.", + "Pick up the white bottle with blue accents and shake it.", + "Use the left arm to grab the handheld bottle and shake it.", + "Hold and shake the the bottle with blue cap carefully.", + "Hold the cylindrical bottle steady, then shake it.", + "Use the left arm to lift and shake the blue bottle with label.", + "Grab the handheld bottle and give it a shake.", + "Take the white and blue bottle using the left arm and give it a shake.", + "Shake the the handheld bottle properly after lifting.", + "Grasp the medium-sized bottle with the left arm and shake it.", + "Shake the medium bottle for beverages after lifting it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Secure the white and blue bottle and perform a shake.", + "Grab the bottle with blue cap and move it to shake.", + "With the left arm, pick the handheld bottle and shake properly.", + "Grip the white bottle with blue accents using the left arm and shake.", + "Lift up the handheld bottle using the left arm, then shake.", + "Lift the cylindrical bottle and shake it gently.", + "Lift the white and blue bottle and shake it thoroughly.", + "Utilize the left arm to hold the white and blue bottle and shake it.", + "Grab the blue bottle with label firmly, shake it, and put it down.", + "Hold the handheld bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the medium bottle for beverages.", + "Hold the blue bottle and shake it properly.", + "Grab and shake the cylindrical bottle using the left arm.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Grab the smooth plastic bottle carefully and shake.", + "Use the left arm to hold the medium bottle for beverages and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the white bottle with blue accents after grabbing it.", + "Catch the handheld bottle and shake it instantly.", + "Shake the cylindrical bottle after grabbing it.", + "Lift the blue bottle with label with the left arm and shake.", + "Shake the handheld bottle after holding it firmly." + ], + "unseen": [ + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Pick up the bottle with ridged neck and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode496.json b/shake_bottle/ur5_randomized_500/instructions/episode496.json new file mode 100644 index 0000000000000000000000000000000000000000..31e4e31c9047d6268aaeeaf0e4e64494abda7aee --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode496.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the white bottle with orange lid after lifting it.", + "Pick up the smooth bottle and shake it.", + "Grab the bottle with orange screw cap and give it a shake.", + "Hold the bottle with tapering neck and shake it properly.", + "Shake the bottle with tapering neck after holding it firmly.", + "Pick the bottle with tapering neck, shake it with the right arm.", + "Use the right arm to pick and shake the medium-sized bottle.", + "Shake the medium-sized bottle using the right arm after grabbing.", + "Lift the smooth bottle with the right arm and shake it.", + "Grab the white bottle with orange lid and shake it steadily.", + "Shake the white bottle with orange lid after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the white bottle for liquids.", + "Use the right arm to hold the handheld white bottle with cap and shake it.", + "Grab the white bottle with orange lid and move it to shake.", + "Shake the smooth bottle after grabbing it.", + "Lift the handheld white bottle with cap with the right arm and give it a shake.", + "Grab the white cylindrical bottle carefully and shake.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Hold the white bottle steady, then shake it.", + "Grasp the white bottle for liquids with the right arm and shake it.", + "Use the right arm to grab the medium-sized bottle and shake properly.", + "Use the right arm to grab the bottle with tapering neck and shake it.", + "Lift the white cylindrical bottle and shake it thoroughly.", + "Use the right arm to lift and shake the handheld white bottle with cap.", + "Grab the medium-sized bottle using the right arm, then shake.", + "Lift the white bottle with orange lid and shake it gently.", + "Shake the bottle with tapering neck after grabbing it.", + "Pick the handheld white bottle with cap up using the right arm and shake it.", + "Secure the plastic bottle and perform a shake.", + "Pick the white cylindrical bottle up with the right arm and shake.", + "Shake the white bottle with red text firmly after grabbing.", + "Take the smooth bottle using the right arm and give it a shake.", + "Secure the handheld white bottle with cap, shake it, and place it down.", + "Grab the white bottle for liquids with the right arm and shake.", + "Hold the white bottle with red text with the right arm and shake lightly.", + "Hold and shake the the bottle with orange screw cap carefully.", + "With the right arm, pick the white bottle and shake properly.", + "Pick the white bottle with orange lid and perform shaking motion.", + "Using the right arm, shake the smooth bottle and then place it back.", + "Lift up the white bottle with orange lid using the right arm, then shake.", + "Pick up the white bottle for liquids and shake it well.", + "Catch the white bottle and shake it instantly.", + "Grip the cylindrical bottle with red writing using the right arm and shake.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Lift the plastic bottle with the right arm and shake.", + "Grab the cylindrical bottle with red writing firmly, shake it, and put it down.", + "Shake the the bottle with tapering neck properly after lifting.", + "Grab and shake the bottle with tapering neck using the right arm.", + "Utilize the right arm to hold the bottle with orange screw cap and shake it.", + "Shake the bottle with tapering neck after lifting it.", + "Pick up the bottle with tapering neck and shake it.", + "Grab the white bottle and give it a shake.", + "Hold the white bottle with orange lid and shake it properly.", + "Shake the white bottle with orange lid after holding it firmly.", + "Pick the handheld white bottle with cap, shake it with the right arm.", + "Use the right arm to pick and shake the handheld white bottle with cap.", + "Shake the cylindrical bottle with red writing using the right arm after grabbing.", + "Lift the white bottle with red text with the right arm and shake it.", + "Grab the white cylindrical bottle and shake it steadily.", + "Shake the bottle with tapering neck after grabbing it.", + "Hold the white bottle, shake it briefly.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Use the right arm to hold the white bottle and shake it.", + "Grab the white bottle for liquids and move it to shake.", + "Shake the white bottle with orange lid after grabbing it.", + "Lift the smooth bottle with the right arm and give it a shake.", + "Grab the white bottle carefully and shake.", + "Shake the white bottle with red text thoroughly after grabbing it.", + "Hold the white bottle with red text steady, then shake it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Use the right arm to grab the smooth bottle and shake properly.", + "Use the right arm to grab the cylindrical bottle with red writing and shake it.", + "Lift the cylindrical bottle with red writing and shake it thoroughly.", + "Use the right arm to lift and shake the handheld white bottle with cap.", + "Grab the white bottle for liquids using the right arm, then shake.", + "Lift the smooth bottle and shake it gently.", + "Shake the white bottle for liquids after grabbing it.", + "Pick the handheld white bottle with cap up using the right arm and shake it.", + "Secure the white bottle with red text and perform a shake.", + "Pick the white cylindrical bottle up with the right arm and shake.", + "Shake the handheld white bottle with cap firmly after grabbing.", + "Take the bottle with orange screw cap using the right arm and give it a shake.", + "Secure the cylindrical bottle with red writing, shake it, and place it down.", + "Grab the smooth bottle with the right arm and shake.", + "Hold the bottle with tapering neck with the right arm and shake lightly.", + "Hold and shake the the white bottle carefully.", + "With the right arm, pick the white bottle and shake properly.", + "Pick the cylindrical bottle with red writing and perform shaking motion.", + "Using the right arm, shake the medium-sized bottle and then place it back.", + "Lift up the white bottle with orange lid using the right arm, then shake.", + "Pick up the plastic bottle and shake it well.", + "Catch the medium-sized bottle and shake it instantly.", + "Grip the white bottle using the right arm and shake.", + "Use the right arm to lift and shake the smooth bottle.", + "Lift the smooth bottle with the right arm and shake.", + "Grab the handheld white bottle with cap firmly, shake it, and put it down.", + "Shake the the medium-sized bottle properly after lifting.", + "Grab and shake the handheld white bottle with cap using the right arm.", + "Utilize the right arm to hold the white bottle for liquids and shake it." + ], + "unseen": [ + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the bottle with glossy surface and shake it.", + "Shake the bottle with orange cap after picking it with the right arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the right arm and shake.", + "Pick and shake the the bottle with orange cap with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Use the right arm to pick the plastic bottle with printed label.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to grab the bottle with orange cap and shake.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the plastic bottle with printed label and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to grab the bottle with glossy surface and shake.", + "Use the right arm to pick the bottle with orange cap.", + "Grab the bottle with glossy surface and shake it.", + "Shake the bottle with glossy surface after picking it with the right arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the right arm and shake.", + "Pick and shake the the bottle with glossy surface with the right arm.", + "Use the right arm to grab the plastic bottle with printed label and shake.", + "Use the right arm to pick the bottle with glossy surface.", + "Grab the bottle with orange cap and shake it.", + "Shake the plastic bottle with printed label after picking it with the right arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with glossy surface and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode497.json b/shake_bottle/ur5_randomized_500/instructions/episode497.json new file mode 100644 index 0000000000000000000000000000000000000000..49235c89fa1695c1d8b832a08f0cd932a3ecc5b3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode497.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the light and medium-sized bottle and shake it gently.", + "Pick the curved orange soda bottle, shake it with the left arm.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Pick up the orange drink bottle with label and shake it well.", + "Hold the round-bottom bottle with white cap, shake it briefly.", + "Shake the medium bottle with colorful label using the left arm after grabbing.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Pick the light and medium-sized bottle up with the left arm and shake.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Use the left arm to grab the ridged orange bottle with grooves and shake properly.", + "Use the left arm to grab the curved orange soda bottle and shake it.", + "Catch the smooth orange bottle and shake it instantly.", + "Utilize the left arm to hold the grooved orange drink bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the round-bottom bottle with white cap with the left arm and shake.", + "Grab and shake the round-bottom bottle with white cap using the left arm.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Use the left arm to hold the cylindrical orange plastic bottle and shake it.", + "Pick up the plastic bottle and shake it.", + "Grasp the medium bottle with colorful label with the left arm and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the orange bottle and give it a shake.", + "Shake the bottle for holding drinks after holding it firmly.", + "Lift up the light and medium-sized bottle using the left arm, then shake.", + "Grab the orange drink bottle with label and shake it steadily.", + "Shake the orange bottle after lifting it.", + "Lift the round-bottom bottle with white cap with the left arm and shake it.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Using the left arm, shake the ridged orange bottle with grooves and then place it back.", + "Hold the curved orange soda bottle steady, then shake it.", + "Hold the curved orange soda bottle and shake it properly.", + "Take the round-bottom bottle with white cap using the left arm and give it a shake.", + "Lift the bottle for holding drinks with the left arm and give it a shake.", + "Grip the orange bottle using the left arm and shake.", + "Pick the medium bottle with colorful label up using the left arm and shake it.", + "Use the left arm to pick and shake the curved orange soda bottle.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Shake the the smooth orange bottle properly after lifting.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Shake the bottle for holding drinks thoroughly after grabbing it.", + "Lift the medium bottle with colorful label with the left arm and shake.", + "Secure the round-bottom bottle with white cap and perform a shake.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Grab the medium bottle with colorful label and move it to shake.", + "Hold and shake the the orange drink bottle with label carefully.", + "With the left arm, pick the curved orange soda bottle and shake properly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Pick the orange bottle and perform shaking motion.", + "Lift the bottle for holding drinks and shake it gently.", + "Pick the bottle for holding drinks, shake it with the left arm.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Pick up the orange drink bottle with label and shake it well.", + "Hold the grooved orange drink bottle, shake it briefly.", + "Shake the grooved orange drink bottle using the left arm after grabbing.", + "Lift the smooth orange bottle and shake it thoroughly.", + "Pick the orange drink bottle with label up with the left arm and shake.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Use the left arm to grab the bottle for holding drinks and shake properly.", + "Use the left arm to grab the orange drink bottle with label and shake it.", + "Catch the light and medium-sized bottle and shake it instantly.", + "Utilize the left arm to hold the light and medium-sized bottle and shake it.", + "Shake the cylindrical orange plastic bottle after grabbing it.", + "Grab the cylindrical orange plastic bottle with the left arm and shake.", + "Grab and shake the light and medium-sized bottle using the left arm.", + "Shake the cylindrical orange plastic bottle firmly after grabbing.", + "Use the left arm to hold the ridged orange bottle with grooves and shake it.", + "Pick up the plastic bottle and shake it.", + "Grasp the ridged orange bottle with grooves with the left arm and shake it.", + "Secure the ridged orange bottle with grooves, shake it, and place it down.", + "Grab the orange bottle and give it a shake.", + "Shake the orange bottle after holding it firmly.", + "Lift up the bottle for holding drinks using the left arm, then shake.", + "Grab the grooved orange drink bottle and shake it steadily.", + "Shake the plastic bottle after lifting it.", + "Lift the medium bottle with colorful label with the left arm and shake it.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Using the left arm, shake the round-bottom bottle with white cap and then place it back.", + "Hold the smooth orange bottle steady, then shake it.", + "Hold the medium bottle with colorful label and shake it properly.", + "Take the curved orange soda bottle using the left arm and give it a shake.", + "Lift the cylindrical orange plastic bottle with the left arm and give it a shake.", + "Grip the orange bottle using the left arm and shake.", + "Pick the round-bottom bottle with white cap up using the left arm and shake it.", + "Use the left arm to pick and shake the orange drink bottle with label.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the orange bottle carefully and shake.", + "Shake the the ridged orange bottle with grooves properly after lifting.", + "Grab the light and medium-sized bottle firmly, shake it, and put it down.", + "Shake the curved orange soda bottle thoroughly after grabbing it.", + "Lift the ridged orange bottle with grooves with the left arm and shake.", + "Secure the smooth orange bottle and perform a shake.", + "Shake the smooth orange bottle after grabbing it.", + "Grab the light and medium-sized bottle and move it to shake.", + "Hold and shake the the round-bottom bottle with white cap carefully.", + "With the left arm, pick the medium bottle with colorful label and shake properly.", + "Hold the bottle for holding drinks with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle for holding drinks.", + "Pick the grooved orange drink bottle and perform shaking motion." + ], + "unseen": [ + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to grab the bottle with white cap and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with white cap with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap and give it a shake.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Use the left arm to pick the bottle with white cap.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with white cap with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Use the left arm to grab the bottle with white cap and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode498.json b/shake_bottle/ur5_randomized_500/instructions/episode498.json new file mode 100644 index 0000000000000000000000000000000000000000..790f1fedd95b7a4f3872e3b102d74e60bc616966 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode498.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small brown plastic bottle with the right arm and give it a shake.", + "Pick the brown bottle with green screw-on cap up with the right arm and shake.", + "Lift the bottle with tapered cylindrical shape with the right arm and shake it.", + "Shake the brown bottle with white printed label after holding it firmly.", + "Grip the plastic bottle with ribbed pattern using the right arm and shake.", + "Hold the bottle with tapered cylindrical shape with the right arm and shake lightly.", + "Catch the hand-sized bottle with grooves and shake it instantly.", + "Pick up the brown bottle with green screw-on cap and shake it well.", + "Use the right arm to grab the small drink bottle with logo and shake it.", + "Hold and shake the the brown bottle with white printed label carefully.", + "Lift up the small brown plastic bottle using the right arm, then shake.", + "Grab the cylindrical bottle with white label with the right arm and shake.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Grab and shake the plastic bottle with ribbed pattern using the right arm.", + "Pick the bottle with green cap up using the right arm and shake it.", + "Use the right arm to pick and shake the hand-sized bottle with grooves.", + "Grab the bottle with tapered cylindrical shape carefully and shake.", + "Shake the small drink bottle with logo after lifting it.", + "Use the right arm to hold the green-capped bottle and shake it.", + "Grasp the brown bottle with green screw-on cap with the right arm and shake it.", + "Hold the small drink bottle with logo and shake it properly.", + "Grab the brown bottle with green screw-on cap and move it to shake.", + "Grab the hand-sized bottle with grooves firmly, shake it, and put it down.", + "Grab the brown bottle using the right arm, then shake.", + "Use the right arm to lift and shake the brown bottle.", + "Shake the hand-sized bottle with grooves firmly after grabbing.", + "Hold the brown bottle with green screw-on cap steady, then shake it.", + "Grab the plastic bottle with ribbed pattern and shake it steadily.", + "Lift the hand-sized bottle with grooves and shake it gently.", + "Take the hand-sized bottle with grooves using the right arm and give it a shake.", + "Pick the small brown plastic bottle and perform shaking motion.", + "Secure the green-capped bottle and perform a shake.", + "Shake the small drink bottle with logo using the right arm after grabbing.", + "Utilize the right arm to hold the hand-sized bottle with grooves and shake it.", + "Pick up the bottle with tapered cylindrical shape and shake it.", + "Shake the bottle with green cap after grabbing it.", + "Grab the cylindrical bottle with white label and give it a shake.", + "Lift the brown bottle with green screw-on cap with the right arm and shake.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Use the right arm to lift and shake the bottle with green cap.", + "Shake the the plastic bottle with ribbed pattern properly after lifting.", + "Secure the small drink bottle with logo, shake it, and place it down.", + "Use the right arm to grab the small brown plastic bottle and shake properly.", + "Hold the plastic bottle with ribbed pattern, shake it briefly.", + "Shake the small drink bottle with logo thoroughly after grabbing it.", + "With the right arm, pick the bottle with green cap and shake properly.", + "Pick the smooth plastic bottle for beverages, shake it with the right arm.", + "Using the right arm, shake the green-capped bottle and then place it back.", + "Use the right arm to lift and shake the bottle with green cap.", + "Lift the brown bottle with the right arm and give it a shake.", + "Pick the hand-sized bottle with grooves up with the right arm and shake.", + "Lift the hand-sized bottle with grooves with the right arm and shake it.", + "Shake the cylindrical bottle with white label after holding it firmly.", + "Grip the brown bottle with green screw-on cap using the right arm and shake.", + "Hold the smooth plastic bottle for beverages with the right arm and shake lightly.", + "Catch the hand-sized bottle with grooves and shake it instantly.", + "Pick up the brown bottle and shake it well.", + "Use the right arm to grab the hand-sized bottle with grooves and shake it.", + "Hold and shake the the brown bottle with green screw-on cap carefully.", + "Lift up the green-capped bottle using the right arm, then shake.", + "Grab the bottle with green cap with the right arm and shake.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Grab and shake the cylindrical bottle with white label using the right arm.", + "Pick the bottle with green cap up using the right arm and shake it.", + "Use the right arm to pick and shake the brown bottle.", + "Grab the bottle with green cap carefully and shake.", + "Shake the green-capped bottle after lifting it.", + "Use the right arm to hold the brown bottle with white printed label and shake it.", + "Grasp the brown bottle with the right arm and shake it.", + "Hold the bottle with green cap and shake it properly.", + "Grab the plastic bottle with ribbed pattern and move it to shake.", + "Grab the green-capped bottle firmly, shake it, and put it down.", + "Grab the small drink bottle with logo using the right arm, then shake.", + "Use the right arm to lift and shake the brown bottle.", + "Shake the brown bottle with white printed label firmly after grabbing.", + "Hold the small brown plastic bottle steady, then shake it.", + "Grab the brown bottle with white printed label and shake it steadily.", + "Lift the smooth plastic bottle for beverages and shake it gently.", + "Take the bottle with green cap using the right arm and give it a shake.", + "Pick the bottle with green cap and perform shaking motion.", + "Secure the brown bottle and perform a shake.", + "Shake the brown bottle with green screw-on cap using the right arm after grabbing.", + "Utilize the right arm to hold the green-capped bottle and shake it.", + "Pick up the brown bottle with green screw-on cap and shake it.", + "Shake the brown bottle after grabbing it.", + "Grab the bottle with tapered cylindrical shape and give it a shake.", + "Lift the brown bottle with white printed label with the right arm and shake.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Use the right arm to lift and shake the brown bottle with white printed label.", + "Shake the the bottle with green cap properly after lifting.", + "Secure the small brown plastic bottle, shake it, and place it down.", + "Use the right arm to grab the brown bottle and shake properly.", + "Hold the cylindrical bottle with white label, shake it briefly.", + "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.", + "With the right arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Pick the green-capped bottle, shake it with the right arm.", + "Using the right arm, shake the green-capped bottle and then place it back.", + "Use the right arm to lift and shake the bottle with green cap." + ], + "unseen": [ + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Grab the bottle with coffee-colored body and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode499.json b/shake_bottle/ur5_randomized_500/instructions/episode499.json new file mode 100644 index 0000000000000000000000000000000000000000..f17351144514038fcfdd83fe4731602e5d596315 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode499.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the small brown plastic bottle properly after lifting.", + "Lift up the hand-sized bottle with grooves using the right arm, then shake.", + "Pick the brown bottle with green screw-on cap up with the right arm and shake.", + "Grab the plastic bottle with ribbed pattern with the right arm and shake.", + "Shake the bottle with green cap after grabbing it.", + "Utilize the right arm to hold the cylindrical bottle with white label and shake it.", + "Secure the brown bottle with green screw-on cap and perform a shake.", + "Lift the bottle with tapered cylindrical shape with the right arm and give it a shake.", + "Grab the bottle with green cap and give it a shake.", + "Shake the smooth plastic bottle for beverages after lifting it.", + "Hold the small brown plastic bottle steady, then shake it.", + "Use the right arm to grab the small brown plastic bottle and shake properly.", + "Grab and shake the brown bottle using the right arm.", + "Hold the small brown plastic bottle with the right arm and shake lightly.", + "Pick up the small brown plastic bottle and shake it well.", + "Grab the bottle with green cap using the right arm, then shake.", + "Lift the green-capped bottle and shake it thoroughly.", + "Grab the plastic bottle with ribbed pattern and move it to shake.", + "Grip the bottle with tapered cylindrical shape using the right arm and shake.", + "Pick the small brown plastic bottle and perform shaking motion.", + "Shake the small drink bottle with logo after holding it firmly.", + "Lift the hand-sized bottle with grooves with the right arm and shake.", + "Shake the green-capped bottle thoroughly after grabbing it.", + "Secure the bottle with green cap, shake it, and place it down.", + "Pick up the brown bottle with green screw-on cap and shake it.", + "Pick the brown bottle with white printed label, shake it with the right arm.", + "Lift the plastic bottle with ribbed pattern with the right arm and shake it.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "Use the right arm to lift and shake the cylindrical bottle with white label.", + "Shake the small brown plastic bottle after grabbing it.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Hold and shake the the smooth plastic bottle for beverages carefully.", + "Shake the green-capped bottle using the right arm after grabbing.", + "Hold the brown bottle with white printed label, shake it briefly.", + "Use the right arm to hold the brown bottle with white printed label and shake it.", + "Grasp the bottle with green cap with the right arm and shake it.", + "Shake the cylindrical bottle with white label after grabbing it.", + "With the right arm, pick the smooth plastic bottle for beverages and shake properly.", + "Use the right arm to lift and shake the bottle with green cap.", + "Catch the smooth plastic bottle for beverages and shake it instantly.", + "Grab the brown bottle carefully and shake.", + "Shake the hand-sized bottle with grooves firmly after grabbing.", + "Lift the bottle with green cap and shake it gently.", + "Use the right arm to pick and shake the hand-sized bottle with grooves.", + "Use the right arm to grab the smooth plastic bottle for beverages and shake it.", + "Take the green-capped bottle using the right arm and give it a shake.", + "Pick the small drink bottle with logo up using the right arm and shake it.", + "Using the right arm, shake the bottle with tapered cylindrical shape and then place it back.", + "Grab the brown bottle and shake it steadily.", + "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.", + "Shake the the green-capped bottle properly after lifting.", + "Lift up the brown bottle with green screw-on cap using the right arm, then shake.", + "Pick the smooth plastic bottle for beverages up with the right arm and shake.", + "Grab the brown bottle with white printed label with the right arm and shake.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Utilize the right arm to hold the plastic bottle with ribbed pattern and shake it.", + "Secure the bottle with green cap and perform a shake.", + "Lift the brown bottle with green screw-on cap with the right arm and give it a shake.", + "Grab the hand-sized bottle with grooves and give it a shake.", + "Shake the green-capped bottle after lifting it.", + "Hold the cylindrical bottle with white label steady, then shake it.", + "Use the right arm to grab the bottle with tapered cylindrical shape and shake properly.", + "Grab and shake the bottle with green cap using the right arm.", + "Hold the green-capped bottle with the right arm and shake lightly.", + "Pick up the brown bottle with green screw-on cap and shake it well.", + "Grab the cylindrical bottle with white label using the right arm, then shake.", + "Lift the small drink bottle with logo and shake it thoroughly.", + "Grab the cylindrical bottle with white label and move it to shake.", + "Grip the bottle with tapered cylindrical shape using the right arm and shake.", + "Pick the brown bottle with green screw-on cap and perform shaking motion.", + "Shake the plastic bottle with ribbed pattern after holding it firmly.", + "Lift the cylindrical bottle with white label with the right arm and shake.", + "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.", + "Secure the cylindrical bottle with white label, shake it, and place it down.", + "Pick up the hand-sized bottle with grooves and shake it.", + "Pick the brown bottle, shake it with the right arm.", + "Lift the brown bottle with white printed label with the right arm and shake it.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "Use the right arm to lift and shake the plastic bottle with ribbed pattern.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Use the right arm to lift and shake the smooth plastic bottle for beverages.", + "Hold and shake the the brown bottle with green screw-on cap carefully.", + "Shake the smooth plastic bottle for beverages using the right arm after grabbing.", + "Hold the small brown plastic bottle, shake it briefly.", + "Use the right arm to hold the green-capped bottle and shake it.", + "Grasp the bottle with tapered cylindrical shape with the right arm and shake it.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "With the right arm, pick the plastic bottle with ribbed pattern and shake properly.", + "Use the right arm to lift and shake the small drink bottle with logo.", + "Catch the smooth plastic bottle for beverages and shake it instantly.", + "Grab the bottle with green cap carefully and shake.", + "Shake the small brown plastic bottle firmly after grabbing.", + "Lift the brown bottle and shake it gently.", + "Use the right arm to pick and shake the hand-sized bottle with grooves.", + "Use the right arm to grab the green-capped bottle and shake it.", + "Take the small drink bottle with logo using the right arm and give it a shake.", + "Pick the smooth plastic bottle for beverages up using the right arm and shake it.", + "Using the right arm, shake the brown bottle and then place it back.", + "Grab the bottle with green cap and shake it steadily.", + "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body and shake it.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle and shake it.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Shake the plastic Starbucks bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode5.json b/shake_bottle/ur5_randomized_500/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..65762bae936e53391c2a99449f105b810b0be7f1 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, shake the brown bottle with white printed label and then place it back.", + "Lift the smooth plastic bottle for beverages with the left arm and give it a shake.", + "Shake the brown bottle after holding it firmly.", + "Grab the smooth plastic bottle for beverages firmly, shake it, and put it down.", + "Hold the bottle with tapered cylindrical shape, shake it briefly.", + "Lift the bottle with green cap with the left arm and shake it.", + "Grab the small brown plastic bottle and move it to shake.", + "Pick the small drink bottle with logo up using the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle.", + "Lift up the small brown plastic bottle using the left arm, then shake.", + "Grab the plastic bottle with ribbed pattern carefully and shake.", + "Hold the hand-sized bottle with grooves steady, then shake it.", + "Shake the the cylindrical bottle with white label properly after lifting.", + "Grab the brown bottle with white printed label using the left arm, then shake.", + "Utilize the left arm to hold the brown bottle with green screw-on cap and shake it.", + "Hold the brown bottle with the left arm and shake lightly.", + "Lift the smooth plastic bottle for beverages with the left arm and shake.", + "Pick up the smooth plastic bottle for beverages and shake it.", + "Pick the brown bottle, shake it with the left arm.", + "Shake the green-capped bottle firmly after grabbing.", + "Secure the bottle with tapered cylindrical shape, shake it, and place it down.", + "Catch the brown bottle with green screw-on cap and shake it instantly.", + "Grab and shake the hand-sized bottle with grooves using the left arm.", + "Secure the plastic bottle with ribbed pattern and perform a shake.", + "With the left arm, pick the bottle with tapered cylindrical shape and shake properly.", + "Use the left arm to lift and shake the hand-sized bottle with grooves.", + "Use the left arm to hold the brown bottle with green screw-on cap and shake it.", + "Grab the green-capped bottle and give it a shake.", + "Shake the bottle with tapered cylindrical shape using the left arm after grabbing.", + "Grip the brown bottle using the left arm and shake.", + "Grasp the green-capped bottle with the left arm and shake it.", + "Grab the small drink bottle with logo with the left arm and shake.", + "Use the left arm to lift and shake the small drink bottle with logo.", + "Shake the green-capped bottle after grabbing it.", + "Use the left arm to grab the small drink bottle with logo and shake it.", + "Shake the brown bottle with white printed label after grabbing it.", + "Take the brown bottle with green screw-on cap using the left arm and give it a shake.", + "Hold the bottle with tapered cylindrical shape and shake it properly.", + "Use the left arm to pick and shake the plastic bottle with ribbed pattern.", + "Pick the brown bottle with white printed label and perform shaking motion.", + "Pick up the hand-sized bottle with grooves and shake it well.", + "Use the left arm to grab the cylindrical bottle with white label and shake properly.", + "Shake the cylindrical bottle with white label thoroughly after grabbing it.", + "Shake the brown bottle with white printed label after grabbing it.", + "Lift the green-capped bottle and shake it gently.", + "Grab the hand-sized bottle with grooves and shake it steadily.", + "Shake the cylindrical bottle with white label after lifting it.", + "Pick the green-capped bottle up with the left arm and shake.", + "Lift the brown bottle with white printed label and shake it thoroughly.", + "Hold and shake the the hand-sized bottle with grooves carefully.", + "Using the left arm, shake the brown bottle and then place it back.", + "Lift the hand-sized bottle with grooves with the left arm and give it a shake.", + "Shake the small brown plastic bottle after holding it firmly.", + "Grab the green-capped bottle firmly, shake it, and put it down.", + "Hold the green-capped bottle, shake it briefly.", + "Lift the hand-sized bottle with grooves with the left arm and shake it.", + "Grab the small drink bottle with logo and move it to shake.", + "Pick the small drink bottle with logo up using the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with white printed label.", + "Lift up the smooth plastic bottle for beverages using the left arm, then shake.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Hold the cylindrical bottle with white label steady, then shake it.", + "Shake the the smooth plastic bottle for beverages properly after lifting.", + "Grab the brown bottle with green screw-on cap using the left arm, then shake.", + "Utilize the left arm to hold the smooth plastic bottle for beverages and shake it.", + "Hold the green-capped bottle with the left arm and shake lightly.", + "Lift the cylindrical bottle with white label with the left arm and shake.", + "Pick up the plastic bottle with ribbed pattern and shake it.", + "Pick the bottle with tapered cylindrical shape, shake it with the left arm.", + "Shake the cylindrical bottle with white label firmly after grabbing.", + "Secure the plastic bottle with ribbed pattern, shake it, and place it down.", + "Catch the green-capped bottle and shake it instantly.", + "Grab and shake the green-capped bottle using the left arm.", + "Secure the hand-sized bottle with grooves and perform a shake.", + "With the left arm, pick the brown bottle and shake properly.", + "Use the left arm to lift and shake the small brown plastic bottle.", + "Use the left arm to hold the smooth plastic bottle for beverages and shake it.", + "Grab the green-capped bottle and give it a shake.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Grip the bottle with tapered cylindrical shape using the left arm and shake.", + "Grasp the hand-sized bottle with grooves with the left arm and shake it.", + "Grab the brown bottle with the left arm and shake.", + "Use the left arm to lift and shake the green-capped bottle.", + "Shake the bottle with tapered cylindrical shape after grabbing it.", + "Use the left arm to grab the cylindrical bottle with white label and shake it.", + "Shake the brown bottle with white printed label after grabbing it.", + "Take the green-capped bottle using the left arm and give it a shake.", + "Hold the small drink bottle with logo and shake it properly.", + "Use the left arm to pick and shake the smooth plastic bottle for beverages.", + "Pick the cylindrical bottle with white label and perform shaking motion.", + "Pick up the green-capped bottle and shake it well.", + "Use the left arm to grab the cylindrical bottle with white label and shake properly.", + "Shake the brown bottle thoroughly after grabbing it.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Lift the brown bottle and shake it gently.", + "Grab the brown bottle with green screw-on cap and shake it steadily.", + "Shake the plastic bottle with ribbed pattern after lifting it.", + "Pick the cylindrical bottle with white label up with the left arm and shake.", + "Lift the small drink bottle with logo and shake it thoroughly.", + "Hold and shake the the green-capped bottle carefully." + ], + "unseen": [ + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode50.json b/shake_bottle/ur5_randomized_500/instructions/episode50.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b76a3f1c4c3b732e40b8fde83360225cfd0879 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode50.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the white and blue bottle steady, then shake it.", + "Grab the smooth plastic bottle and shake it steadily.", + "Use the left arm to grab the medium-sized bottle and shake properly.", + "Use the left arm to grab the blue bottle and shake it.", + "Shake the white and blue bottle after grabbing it.", + "Grip the plastic bottle using the left arm and shake.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Shake the blue bottle with label after holding it firmly.", + "Grab the white and blue bottle using the left arm, then shake.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Use the left arm to pick and shake the medium-sized bottle.", + "Shake the blue bottle with label using the left arm after grabbing.", + "Shake the the blue bottle properly after lifting.", + "Grab the white bottle with blue accents and move it to shake.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "Shake the cylindrical bottle firmly after grabbing.", + "Use the left arm to hold the handheld bottle and shake it.", + "Pick the medium bottle for beverages, shake it with the left arm.", + "Grab and shake the medium bottle for beverages using the left arm.", + "Hold the bottle with blue cap and shake it properly.", + "Using the left arm, shake the cylindrical bottle and then place it back.", + "Lift the smooth plastic bottle and shake it gently.", + "Pick up the blue bottle with label and shake it well.", + "Grab the white bottle with blue accents and give it a shake.", + "Grab the medium bottle for beverages carefully and shake.", + "Pick up the bottle with blue cap and shake it.", + "Grab the cylindrical bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle for liquids.", + "Take the white and blue bottle using the left arm and give it a shake.", + "Shake the smooth plastic bottle after lifting it.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold and shake the the blue bottle with label carefully.", + "Lift up the bottle for liquids using the left arm, then shake.", + "Secure the white bottle with blue accents and perform a shake.", + "Lift the blue bottle with label with the left arm and shake.", + "Hold the medium-sized bottle, shake it briefly.", + "Utilize the left arm to hold the white bottle with blue accents and shake it.", + "With the left arm, pick the blue bottle with label and shake properly.", + "Hold the white bottle with blue accents with the left arm and shake lightly.", + "Pick the cylindrical bottle up with the left arm and shake.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Pick the white and blue bottle up using the left arm and shake it.", + "Lift the cylindrical bottle and shake it thoroughly.", + "Shake the medium bottle for beverages after grabbing it.", + "Shake the handheld bottle after grabbing it.", + "Grasp the plastic bottle with the left arm and shake it.", + "Catch the bottle for liquids and shake it instantly.", + "Pick the white and blue bottle and perform shaking motion.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Hold the blue bottle with label steady, then shake it.", + "Grab the medium bottle for beverages and shake it steadily.", + "Use the left arm to grab the white and blue bottle and shake properly.", + "Use the left arm to grab the white and blue bottle and shake it.", + "Shake the handheld bottle after grabbing it.", + "Grip the medium bottle for beverages using the left arm and shake.", + "Secure the white and blue bottle, shake it, and place it down.", + "Shake the blue bottle after holding it firmly.", + "Grab the blue bottle with label using the left arm, then shake.", + "Lift the medium-sized bottle with the left arm and shake it.", + "Use the left arm to pick and shake the blue bottle.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Shake the the medium-sized bottle properly after lifting.", + "Grab the blue bottle with label and move it to shake.", + "Lift the medium-sized bottle with the left arm and give it a shake.", + "Grab the white bottle with blue accents firmly, shake it, and put it down.", + "Shake the medium bottle for beverages firmly after grabbing.", + "Use the left arm to hold the medium bottle for beverages and shake it.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab and shake the blue bottle with label using the left arm.", + "Hold the white and blue bottle and shake it properly.", + "Using the left arm, shake the cylindrical bottle and then place it back.", + "Lift the blue bottle with label and shake it gently.", + "Pick up the handheld bottle and shake it well.", + "Grab the medium-sized bottle and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Pick up the plastic bottle and shake it.", + "Grab the handheld bottle with the left arm and shake.", + "Use the left arm to lift and shake the blue bottle.", + "Take the blue bottle using the left arm and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Hold and shake the the medium-sized bottle carefully.", + "Lift up the blue bottle with label using the left arm, then shake.", + "Secure the blue bottle with label and perform a shake.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Hold the medium bottle for beverages, shake it briefly.", + "Utilize the left arm to hold the medium-sized bottle and shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the plastic bottle up using the left arm and shake it.", + "Lift the blue bottle with label and shake it thoroughly.", + "Shake the blue bottle with label after grabbing it.", + "Shake the blue bottle after grabbing it.", + "Grasp the handheld bottle with the left arm and shake it.", + "Catch the white bottle with blue accents and shake it instantly.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Shake the bottle for liquids thoroughly after grabbing it." + ], + "unseen": [ + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with ridged neck and shake it.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Pick up the blue-capped plastic bottle and shake it.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Pick up the bottle with curved neck design and shake it.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with ridged neck." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode51.json b/shake_bottle/ur5_randomized_500/instructions/episode51.json new file mode 100644 index 0000000000000000000000000000000000000000..398f822a949946afb68d6a31835c26cf8ca8d3c3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode51.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with colored label and shake it gently.", + "Lift up the bottle with glossy plastic finish using the left arm, then shake.", + "With the left arm, pick the plastic bottle with colored label and shake properly.", + "Grip the handheld plastic bottle using the left arm and shake.", + "Grab the bottle with glossy plastic finish with the left arm and shake.", + "Hold and shake the the green bottle with white label carefully.", + "Use the left arm to hold the bottle with glossy plastic finish and shake it.", + "Shake the medium bottle with green body thoroughly after grabbing it.", + "Hold the smooth green and yellow bottle with the left arm and shake lightly.", + "Shake the green bottle with white label firmly after grabbing.", + "Utilize the left arm to hold the medium bottle with green body and shake it.", + "Grab the cylindrical bottle with rounded cap and give it a shake.", + "Catch the plastic bottle with colored label and shake it instantly.", + "Pick the medium bottle with green body, shake it with the left arm.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the green bottle with black text label firmly, shake it, and put it down.", + "Shake the smooth green and yellow bottle after lifting it.", + "Shake the plastic bottle after holding it firmly.", + "Use the left arm to grab the cylindrical liquid bottle with yellow top and shake properly.", + "Use the left arm to grab the smooth green and yellow bottle and shake it.", + "Hold the bottle with yellow cap steady, then shake it.", + "Grab and shake the medium bottle with green body using the left arm.", + "Use the left arm to lift and shake the green bottle with black text label.", + "Shake the green bottle with white label using the left arm after grabbing.", + "Hold the green bottle with black text label, shake it briefly.", + "Grab the plastic bottle with colored label and shake it steadily.", + "Grasp the cylindrical bottle with rounded cap with the left arm and shake it.", + "Lift the smooth green and yellow bottle with the left arm and shake.", + "Pick the smooth green and yellow bottle and perform shaking motion.", + "Use the left arm to lift and shake the medium bottle with green body.", + "Pick the plastic bottle with colored label up using the left arm and shake it.", + "Using the left arm, shake the green bottle with black text label and then place it back.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick the plastic bottle up with the left arm and shake.", + "Shake the bottle with glossy plastic finish after grabbing it.", + "Hold the cylindrical liquid bottle with yellow top and shake it properly.", + "Shake the the green bottle with black text label properly after lifting.", + "Lift the bottle with yellow cap with the left arm and give it a shake.", + "Lift the medium bottle with green body with the left arm and shake it.", + "Grab the smooth green and yellow bottle carefully and shake.", + "Pick up the bottle with yellow cap and shake it.", + "Secure the bottle with yellow cap and perform a shake.", + "Grab the green bottle using the left arm, then shake.", + "Shake the plastic bottle with colored label after grabbing it.", + "Take the smooth green and yellow bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the green bottle with black text label.", + "Grab the green bottle with white label and move it to shake.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Secure the medium bottle with green body, shake it, and place it down.", + "Pick up the plastic bottle with colored label and shake it well.", + "Lift the plastic bottle and shake it gently.", + "Lift up the cylindrical bottle with rounded cap using the left arm, then shake.", + "With the left arm, pick the medium bottle with green body and shake properly.", + "Grip the plastic bottle with colored label using the left arm and shake.", + "Grab the plastic bottle with colored label with the left arm and shake.", + "Hold and shake the the green bottle with black text label carefully.", + "Use the left arm to hold the plastic bottle and shake it.", + "Shake the cylindrical liquid bottle with yellow top thoroughly after grabbing it.", + "Hold the medium bottle with green body with the left arm and shake lightly.", + "Shake the green bottle firmly after grabbing.", + "Utilize the left arm to hold the plastic bottle with colored label and shake it.", + "Grab the plastic bottle with colored label and give it a shake.", + "Catch the plastic bottle and shake it instantly.", + "Pick the handheld plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the green bottle with black text label.", + "Grab the plastic bottle with colored label firmly, shake it, and put it down.", + "Shake the cylindrical liquid bottle with yellow top after lifting it.", + "Shake the bottle with yellow cap after holding it firmly.", + "Use the left arm to grab the bottle with glossy plastic finish and shake properly.", + "Use the left arm to grab the medium bottle with green body and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to lift and shake the plastic bottle with colored label.", + "Shake the plastic bottle using the left arm after grabbing.", + "Hold the green bottle, shake it briefly.", + "Grab the plastic bottle with colored label and shake it steadily.", + "Grasp the bottle with yellow cap with the left arm and shake it.", + "Lift the medium bottle with green body with the left arm and shake.", + "Pick the handheld plastic bottle and perform shaking motion.", + "Use the left arm to lift and shake the plastic bottle with colored label.", + "Pick the handheld plastic bottle up using the left arm and shake it.", + "Using the left arm, shake the cylindrical bottle with rounded cap and then place it back.", + "Lift the bottle with glossy plastic finish and shake it thoroughly.", + "Pick the handheld plastic bottle up with the left arm and shake.", + "Shake the medium bottle with green body after grabbing it.", + "Hold the bottle with yellow cap and shake it properly.", + "Shake the the bottle with glossy plastic finish properly after lifting.", + "Lift the cylindrical bottle with rounded cap with the left arm and give it a shake.", + "Lift the green bottle with the left arm and shake it.", + "Grab the medium bottle with green body carefully and shake.", + "Pick up the green bottle and shake it.", + "Secure the plastic bottle with colored label and perform a shake.", + "Grab the green bottle with white label using the left arm, then shake.", + "Shake the green bottle after grabbing it.", + "Take the green bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the handheld plastic bottle.", + "Grab the bottle with yellow cap and move it to shake.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Secure the handheld plastic bottle, shake it, and place it down.", + "Pick up the handheld plastic bottle and shake it well." + ], + "unseen": [ + "Shake the yellow-capped bottle with smooth surface after picking it with the left arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the left arm to pick the bottle with green base and black prints.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the left arm to pick the bottle with green base and black prints.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Grab the bottle with green base and black prints and shake it.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick and shake the the medium-sized drink bottle with the left arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the left arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Grab the bottle with green base and black prints and shake it.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Use the left arm to pick the yellow-capped bottle with smooth surface.", + "Use the left arm to grab the bottle with green base and black prints and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle with the left arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick and shake the the bottle with green base and black prints with the left arm.", + "Grab the bottle with green base and black prints and shake it.", + "Use the left arm to pick the bottle with green base and black prints.", + "Use the left arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the left arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the left arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the left arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the left arm to pick the medium-sized drink bottle.", + "Use the left arm to grab the medium-sized drink bottle and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode52.json b/shake_bottle/ur5_randomized_500/instructions/episode52.json new file mode 100644 index 0000000000000000000000000000000000000000..4bad75c16846c5c6d00104a44409d12c0cfd50c9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode52.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the black cylindrical bottle with ridges after grabbing it.", + "Pick the smooth black bottle with ridges up using the left arm and shake it.", + "Grab the bottle with blue and yellow print and shake it steadily.", + "Pick the bottle with blue and yellow print up with the left arm and shake.", + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.", + "Grab and shake the black cylindrical bottle with ridges using the left arm.", + "Grasp the plastic bottle with colorful label with the left arm and shake it.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Pick the plastic bottle with colorful label and perform shaking motion.", + "Grab the plastic bottle with colorful label with the left arm and shake.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Shake the bottle with blue and yellow print after lifting it.", + "Grab the medium bottle with yellow cap using the left arm, then shake.", + "With the left arm, pick the medium bottle with yellow cap and shake properly.", + "Lift the black cylindrical bottle with ridges and shake it thoroughly.", + "Hold the beverage bottle with black body, shake it briefly.", + "Grab the yellow capped drink bottle firmly, shake it, and put it down.", + "Grab the smooth black bottle with ridges carefully and shake.", + "Lift the beverage bottle with black body with the left arm and shake it.", + "Lift the black plastic bottle with Pepsi logo and shake it gently.", + "Lift the medium black bottle with printed label with the left arm and shake.", + "Lift the black bottle with the left arm and give it a shake.", + "Use the left arm to hold the black cylindrical bottle with ridges and shake it.", + "Lift up the black cylindrical bottle with ridges using the left arm, then shake.", + "Hold the black plastic bottle with Pepsi logo with the left arm and shake lightly.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "Take the black bottle using the left arm and give it a shake.", + "Catch the black plastic bottle with Pepsi logo and shake it instantly.", + "Grab the black bottle and move it to shake.", + "Shake the yellow capped drink bottle firmly after grabbing.", + "Use the left arm to pick and shake the beverage bottle with black body.", + "Pick the black plastic bottle with Pepsi logo, shake it with the left arm.", + "Hold the yellow-capped cylindrical bottle and shake it properly.", + "Use the left arm to grab the yellow-capped cylindrical bottle and shake it.", + "Pick up the drink bottle with rounded yellow lid and shake it.", + "Pick up the black bottle and shake it well.", + "Shake the bottle with blue and yellow print thoroughly after grabbing it.", + "Use the left arm to grab the drink bottle with rounded yellow lid and shake properly.", + "Shake the smooth black bottle with ridges using the left arm after grabbing.", + "Using the left arm, shake the medium bottle with yellow cap and then place it back.", + "Hold the bottle with blue and yellow print steady, then shake it.", + "Hold and shake the the bottle with blue and yellow print carefully.", + "Grip the plastic bottle with colorful label using the left arm and shake.", + "Secure the yellow capped drink bottle and perform a shake.", + "Use the left arm to lift and shake the medium bottle with yellow cap.", + "Utilize the left arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Shake the yellow capped drink bottle after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Pick the drink bottle with rounded yellow lid up using the left arm and shake it.", + "Grab the medium black bottle with printed label and shake it steadily.", + "Pick the medium bottle with yellow cap up with the left arm and shake.", + "Grab the yellow-capped cylindrical bottle and give it a shake.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Grab and shake the medium black bottle with printed label using the left arm.", + "Grasp the medium bottle with yellow cap with the left arm and shake it.", + "Shake the the medium black bottle with printed label properly after lifting.", + "Pick the bottle with blue and yellow print and perform shaking motion.", + "Grab the black cylindrical bottle with ridges with the left arm and shake.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Shake the beverage bottle with black body after lifting it.", + "Grab the medium bottle with yellow cap using the left arm, then shake.", + "With the left arm, pick the beverage bottle with black body and shake properly.", + "Lift the plastic bottle with colorful label and shake it thoroughly.", + "Hold the black bottle, shake it briefly.", + "Grab the black bottle firmly, shake it, and put it down.", + "Grab the black cylindrical bottle with ridges carefully and shake.", + "Lift the bottle with blue and yellow print with the left arm and shake it.", + "Lift the bottle with blue and yellow print and shake it gently.", + "Lift the black bottle with the left arm and shake.", + "Lift the beverage bottle with black body with the left arm and give it a shake.", + "Use the left arm to hold the yellow capped drink bottle and shake it.", + "Lift up the drink bottle with rounded yellow lid using the left arm, then shake.", + "Hold the medium black bottle with printed label with the left arm and shake lightly.", + "Shake the beverage bottle with black body after grabbing it.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Take the black cylindrical bottle with ridges using the left arm and give it a shake.", + "Catch the black plastic bottle with Pepsi logo and shake it instantly.", + "Grab the yellow capped drink bottle and move it to shake.", + "Shake the black bottle firmly after grabbing.", + "Use the left arm to pick and shake the yellow capped drink bottle.", + "Pick the medium bottle with yellow cap, shake it with the left arm.", + "Hold the black bottle and shake it properly.", + "Use the left arm to grab the black bottle and shake it.", + "Pick up the medium bottle with yellow cap and shake it.", + "Pick up the black plastic bottle with Pepsi logo and shake it well.", + "Shake the plastic bottle with colorful label thoroughly after grabbing it.", + "Use the left arm to grab the black bottle and shake properly.", + "Shake the yellow-capped cylindrical bottle using the left arm after grabbing.", + "Using the left arm, shake the black cylindrical bottle with ridges and then place it back.", + "Hold the yellow capped drink bottle steady, then shake it.", + "Hold and shake the the smooth black bottle with ridges carefully.", + "Grip the drink bottle with rounded yellow lid using the left arm and shake.", + "Secure the black cylindrical bottle with ridges and perform a shake.", + "Use the left arm to lift and shake the black bottle.", + "Utilize the left arm to hold the medium bottle with yellow cap and shake it.", + "Shake the beverage bottle with black body after holding it firmly.", + "Use the left arm to lift and shake the drink bottle with rounded yellow lid." + ], + "unseen": [ + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the bottle with ridges near base and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode53.json b/shake_bottle/ur5_randomized_500/instructions/episode53.json new file mode 100644 index 0000000000000000000000000000000000000000..62a81d40ed1fb002be55aa59fc95dcff82aca877 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode53.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the drink bottle with rounded yellow lid, shake it briefly.", + "Lift the smooth black bottle with ridges and shake it thoroughly.", + "Grab the black bottle with the right arm and shake.", + "With the right arm, pick the plastic bottle with colorful label and shake properly.", + "Pick up the beverage bottle with black body and shake it well.", + "Lift the black plastic bottle with Pepsi logo with the right arm and shake.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Shake the beverage bottle with black body after grabbing it.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Grab the drink bottle with rounded yellow lid firmly, shake it, and put it down.", + "Use the right arm to grab the medium black bottle with printed label and shake it.", + "Shake the black cylindrical bottle with ridges after lifting it.", + "Use the right arm to hold the yellow-capped cylindrical bottle and shake it.", + "Secure the medium black bottle with printed label and perform a shake.", + "Grab the black plastic bottle with Pepsi logo and shake it steadily.", + "Catch the bottle with blue and yellow print and shake it instantly.", + "Pick up the black cylindrical bottle with ridges and shake it.", + "Lift the black plastic bottle with Pepsi logo and shake it gently.", + "Grab the plastic bottle with colorful label carefully and shake.", + "Pick the plastic bottle with colorful label, shake it with the right arm.", + "Hold the yellow capped drink bottle and shake it properly.", + "Shake the plastic bottle with colorful label using the right arm after grabbing.", + "Shake the medium black bottle with printed label after holding it firmly.", + "Grab the medium bottle with yellow cap and give it a shake.", + "Grab the medium black bottle with printed label using the right arm, then shake.", + "Grip the smooth black bottle with ridges using the right arm and shake.", + "Use the right arm to lift and shake the yellow capped drink bottle.", + "Secure the drink bottle with rounded yellow lid, shake it, and place it down.", + "Lift the plastic bottle with colorful label with the right arm and shake it.", + "Grab and shake the black cylindrical bottle with ridges using the right arm.", + "Grab the smooth black bottle with ridges and move it to shake.", + "Pick the black bottle and perform shaking motion.", + "Shake the drink bottle with rounded yellow lid firmly after grabbing.", + "Using the right arm, shake the medium black bottle with printed label and then place it back.", + "Pick the drink bottle with rounded yellow lid up with the right arm and shake.", + "Hold the drink bottle with rounded yellow lid steady, then shake it.", + "Use the right arm to grab the bottle with blue and yellow print and shake properly.", + "Take the medium bottle with yellow cap using the right arm and give it a shake.", + "Grasp the black plastic bottle with Pepsi logo with the right arm and shake it.", + "Utilize the right arm to hold the bottle with blue and yellow print and shake it.", + "Lift up the bottle with blue and yellow print using the right arm, then shake.", + "Pick the bottle with blue and yellow print up using the right arm and shake it.", + "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.", + "Shake the plastic bottle with colorful label thoroughly after grabbing it.", + "Lift the medium bottle with yellow cap with the right arm and give it a shake.", + "Use the right arm to pick and shake the medium bottle with yellow cap.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Hold and shake the the smooth black bottle with ridges carefully.", + "Hold the yellow capped drink bottle, shake it briefly.", + "Lift the bottle with blue and yellow print and shake it thoroughly.", + "Grab the yellow capped drink bottle with the right arm and shake.", + "With the right arm, pick the black cylindrical bottle with ridges and shake properly.", + "Pick up the beverage bottle with black body and shake it well.", + "Lift the beverage bottle with black body with the right arm and shake.", + "Use the right arm to lift and shake the drink bottle with rounded yellow lid.", + "Shake the yellow capped drink bottle after grabbing it.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Shake the the beverage bottle with black body properly after lifting.", + "Grab the bottle with blue and yellow print firmly, shake it, and put it down.", + "Use the right arm to grab the black plastic bottle with Pepsi logo and shake it.", + "Shake the bottle with blue and yellow print after lifting it.", + "Use the right arm to hold the black cylindrical bottle with ridges and shake it.", + "Secure the smooth black bottle with ridges and perform a shake.", + "Grab the yellow capped drink bottle and shake it steadily.", + "Catch the black plastic bottle with Pepsi logo and shake it instantly.", + "Pick up the beverage bottle with black body and shake it.", + "Lift the drink bottle with rounded yellow lid and shake it gently.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Pick the yellow capped drink bottle, shake it with the right arm.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Shake the drink bottle with rounded yellow lid using the right arm after grabbing.", + "Shake the black bottle after holding it firmly.", + "Grab the medium black bottle with printed label and give it a shake.", + "Grab the black cylindrical bottle with ridges using the right arm, then shake.", + "Grip the medium bottle with yellow cap using the right arm and shake.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Secure the yellow-capped cylindrical bottle, shake it, and place it down.", + "Lift the beverage bottle with black body with the right arm and shake it.", + "Grab and shake the yellow capped drink bottle using the right arm.", + "Grab the yellow-capped cylindrical bottle and move it to shake.", + "Pick the drink bottle with rounded yellow lid and perform shaking motion.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Using the right arm, shake the drink bottle with rounded yellow lid and then place it back.", + "Pick the plastic bottle with colorful label up with the right arm and shake.", + "Hold the yellow capped drink bottle steady, then shake it.", + "Use the right arm to grab the medium bottle with yellow cap and shake properly.", + "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.", + "Grasp the black bottle with the right arm and shake it.", + "Utilize the right arm to hold the smooth black bottle with ridges and shake it.", + "Lift up the black bottle using the right arm, then shake.", + "Pick the bottle with blue and yellow print up using the right arm and shake it.", + "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.", + "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.", + "Lift the plastic bottle with colorful label with the right arm and give it a shake.", + "Use the right arm to pick and shake the black bottle.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Use the right arm to lift and shake the beverage bottle with black body.", + "Hold and shake the the black bottle carefully." + ], + "unseen": [ + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.", + "Grab the bottle with ridges near base and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the plastic bottle with blue label after picking it with the right arm.", + "Pick and shake the the bottle with ridges near base with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the right arm to pick the bottle with ridges near base.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the right arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label with the right arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Use the right arm to grab the plastic bottle with blue label and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the plastic bottle with blue label with the right arm.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base with the right arm and shake.", + "Grab the plastic bottle with blue label and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the right arm.", + "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the right arm to pick the hand-sized bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode54.json b/shake_bottle/ur5_randomized_500/instructions/episode54.json new file mode 100644 index 0000000000000000000000000000000000000000..6a189e0c2bfd501e7329f3b379a09520b61dd0d5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode54.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the handheld white bottle with cap with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with tapering neck.", + "Grab the cylindrical bottle with red writing with the left arm and shake.", + "Shake the white bottle for liquids after grabbing it.", + "Use the left arm to lift and shake the white bottle with red text.", + "Use the left arm to grab the bottle with tapering neck and shake properly.", + "Shake the white bottle after lifting it.", + "Lift the bottle with tapering neck with the left arm and give it a shake.", + "Grab and shake the bottle with orange screw cap using the left arm.", + "Pick the handheld white bottle with cap up with the left arm and shake.", + "Shake the the medium-sized bottle properly after lifting.", + "Secure the medium-sized bottle and perform a shake.", + "Grab the white bottle with red text and shake it steadily.", + "Shake the white bottle with red text after grabbing it.", + "With the left arm, pick the white cylindrical bottle and shake properly.", + "Shake the white bottle with red text after grabbing it.", + "Grab the white cylindrical bottle and give it a shake.", + "Use the left arm to pick and shake the white bottle for liquids.", + "Secure the white bottle with red text, shake it, and place it down.", + "Grab the white cylindrical bottle using the left arm, then shake.", + "Shake the white bottle after holding it firmly.", + "Utilize the left arm to hold the white cylindrical bottle and shake it.", + "Pick the white bottle for liquids and perform shaking motion.", + "Grab the bottle with orange screw cap and move it to shake.", + "Lift up the white bottle with red text using the left arm, then shake.", + "Lift the white bottle with red text and shake it thoroughly.", + "Pick the white bottle for liquids up using the left arm and shake it.", + "Grab the medium-sized bottle carefully and shake.", + "Pick the bottle with tapering neck, shake it with the left arm.", + "Hold the smooth bottle and shake it properly.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the cylindrical bottle with red writing.", + "Catch the bottle with orange screw cap and shake it instantly.", + "Hold the white bottle with red text, shake it briefly.", + "Pick up the white bottle with red text and shake it.", + "Lift the white bottle for liquids and shake it gently.", + "Hold the cylindrical bottle with red writing with the left arm and shake lightly.", + "Grip the white bottle with red text using the left arm and shake.", + "Take the bottle with tapering neck using the left arm and give it a shake.", + "Using the left arm, shake the white cylindrical bottle and then place it back.", + "Hold the white bottle steady, then shake it.", + "Shake the smooth bottle firmly after grabbing.", + "Hold and shake the the bottle with tapering neck carefully.", + "Shake the handheld white bottle with cap using the left arm after grabbing.", + "Pick up the smooth bottle and shake it well.", + "Use the left arm to grab the white bottle with orange lid and shake it.", + "Lift the white bottle with the left arm and shake it.", + "Lift the medium-sized bottle with the left arm and shake.", + "Use the left arm to hold the handheld white bottle with cap and shake it.", + "Grab the cylindrical bottle with red writing firmly, shake it, and put it down.", + "Grasp the white cylindrical bottle with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the smooth bottle with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to lift and shake the white bottle with red text.", + "Use the left arm to grab the white bottle with orange lid and shake properly.", + "Shake the white bottle after lifting it.", + "Lift the white cylindrical bottle with the left arm and give it a shake.", + "Grab and shake the medium-sized bottle using the left arm.", + "Pick the medium-sized bottle up with the left arm and shake.", + "Shake the the bottle with orange screw cap properly after lifting.", + "Secure the smooth bottle and perform a shake.", + "Grab the medium-sized bottle and shake it steadily.", + "Shake the white bottle with orange lid after grabbing it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the medium-sized bottle after grabbing it.", + "Grab the cylindrical bottle with red writing and give it a shake.", + "Use the left arm to pick and shake the plastic bottle.", + "Secure the white bottle with red text, shake it, and place it down.", + "Grab the bottle with tapering neck using the left arm, then shake.", + "Shake the white cylindrical bottle after holding it firmly.", + "Utilize the left arm to hold the handheld white bottle with cap and shake it.", + "Pick the white cylindrical bottle and perform shaking motion.", + "Grab the white cylindrical bottle and move it to shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Pick the white cylindrical bottle up using the left arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Pick the white bottle with orange lid, shake it with the left arm.", + "Hold the white bottle and shake it properly.", + "Shake the handheld white bottle with cap thoroughly after grabbing it.", + "Use the left arm to lift and shake the white bottle with red text.", + "Catch the white bottle and shake it instantly.", + "Hold the smooth bottle, shake it briefly.", + "Pick up the white bottle with red text and shake it.", + "Lift the white bottle for liquids and shake it gently.", + "Hold the handheld white bottle with cap with the left arm and shake lightly.", + "Grip the white bottle with red text using the left arm and shake.", + "Take the white cylindrical bottle using the left arm and give it a shake.", + "Using the left arm, shake the white bottle for liquids and then place it back.", + "Hold the white bottle with orange lid steady, then shake it.", + "Shake the white bottle firmly after grabbing.", + "Hold and shake the the bottle with tapering neck carefully.", + "Shake the white bottle using the left arm after grabbing.", + "Pick up the plastic bottle and shake it well.", + "Use the left arm to grab the white bottle with orange lid and shake it.", + "Lift the handheld white bottle with cap with the left arm and shake it.", + "Lift the smooth bottle with the left arm and shake.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Grab the bottle with orange screw cap firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the bottle with orange cap.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the bottle with orange cap and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the plastic bottle with printed label with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the bottle with glossy surface and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the bottle with orange cap with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab the plastic bottle with printed label and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with glossy surface with the left arm and shake.", + "Use the left arm to grab the bottle with orange cap and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Shake the bottle with glossy surface after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the bottle with orange cap and shake it.", + "Grab the bottle with glossy surface and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Shake the plastic bottle with printed label after picking it with the left arm.", + "Grab the plastic bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the bottle with orange cap with the left arm and shake.", + "Use the left arm to grab the bottle with glossy surface and shake.", + "Use the left arm to pick the bottle with glossy surface.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with orange cap, shake it properly, then set it down.", + "Grab the bottle with orange cap and give it a shake.", + "Pick up the bottle with glossy surface and shake it.", + "Grab the bottle with orange cap and shake it.", + "Pick and shake the the bottle with glossy surface with the left arm.", + "Pick up the plastic bottle with printed label and shake it.", + "Pick up the plastic bottle with printed label with the left arm and shake.", + "Use the left arm to grab the plastic bottle with printed label and shake.", + "Use the left arm to pick the plastic bottle with printed label.", + "Shake the bottle with orange cap after picking it with the left arm.", + "Grab the bottle with glossy surface, shake it properly, then set it down.", + "Grab the plastic bottle with printed label and give it a shake.", + "Pick up the plastic bottle with printed label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode55.json b/shake_bottle/ur5_randomized_500/instructions/episode55.json new file mode 100644 index 0000000000000000000000000000000000000000..16da8dc11a18fa325b40706bad4fb54c3734fbf0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode55.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Grab the bottle with white neck and red top and give it a shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Secure the smooth bottle with red lid and perform a shake.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Grab the hand-sized soda bottle carefully and shake.", + "Lift the brown bottle with red label and shake it gently.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Grab the brown bottle with red label and move it to shake.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Shake the bottle with white neck and red top after grabbing it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Hold the plastic drink bottle and shake it properly.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Hold the red-capped bottle steady, then shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Pick up the Coca-Cola bottle and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the the brown bottle with red label properly after lifting.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Shake the brown bottle with red label firmly after grabbing.", + "Grab the long thin bottle and give it a shake.", + "Shake the narrow-necked bottle after lifting it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Secure the plastic drink bottle and perform a shake.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Grab the red-capped bottle carefully and shake.", + "Lift the plastic drink bottle and shake it gently.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the Coca-Cola bottle after grabbing it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grab and shake the long thin bottle using the left arm.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Hold the hand-sized soda bottle and shake it properly.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Pick up the red-capped bottle and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Catch the plastic drink bottle and shake it instantly.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Use the left arm to lift and shake the long thin bottle." + ], + "unseen": [ + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode56.json b/shake_bottle/ur5_randomized_500/instructions/episode56.json new file mode 100644 index 0000000000000000000000000000000000000000..51ea2b0e2d6ca6fc0692e78dc232cf7fba87a086 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode56.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the bottle with green label using the left arm and shake.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Shake the yellow container with rounded edges using the left arm after grabbing.", + "Grab the rectangular bottle with cylindrical neck with the left arm and shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Pick the yellow bottle with a green design up with the left arm and shake.", + "Lift up the medium rectangular yellow bottle using the left arm, then shake.", + "Pick the yellow bottle with a green design, shake it with the left arm.", + "Shake the bottle with green and white labels after holding it firmly.", + "Use the left arm to grab the bottle with green label and shake it.", + "Pick up the plastic bottle and shake it well.", + "Grab the plastic bottle using the left arm, then shake.", + "Secure the plastic bottle, shake it, and place it down.", + "With the left arm, pick the bottle with a smooth plastic body and shake properly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Utilize the left arm to hold the yellow container with rounded edges and shake it.", + "Grab the yellow plastic bottle with white top and move it to shake.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Grab the bottle with white cap and give it a shake.", + "Pick the bottle with white cap up using the left arm and shake it.", + "Hold and shake the the bottle with a smooth plastic body carefully.", + "Hold the yellow bottle with a green design and shake it properly.", + "Grasp the smooth bottle with rounded edges with the left arm and shake it.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Shake the bottle with green label after grabbing it.", + "Grab the bottle with a smooth plastic body carefully and shake.", + "Use the left arm to pick and shake the smooth bottle with rounded edges.", + "Lift the yellow bottle and shake it gently.", + "Lift the plastic bottle with the left arm and shake it.", + "Pick the bottle with a smooth plastic body and perform shaking motion.", + "Use the left arm to hold the bottle with white cap and shake it.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Hold the bottle with green and white labels steady, then shake it.", + "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Lift the yellow container with rounded edges with the left arm and shake.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Hold the bottle with a smooth plastic body with the left arm and shake lightly.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Hold the bottle with green label, shake it briefly.", + "Lift the medium rectangular yellow bottle with the left arm and give it a shake.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Grab and shake the medium rectangular yellow bottle using the left arm.", + "Pick up the bottle with a smooth plastic body and shake it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Shake the yellow bottle with a green design after lifting it.", + "Shake the bottle with green label firmly after grabbing.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Grip the rectangular bottle with cylindrical neck using the left arm and shake.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Shake the yellow container with rounded edges using the left arm after grabbing.", + "Grab the bottle with white cap with the left arm and shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Pick the bottle with green and white labels up with the left arm and shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Pick the medium rectangular yellow bottle, shake it with the left arm.", + "Shake the plastic bottle after holding it firmly.", + "Use the left arm to grab the smooth bottle with rounded edges and shake it.", + "Pick up the yellow container with rounded edges and shake it well.", + "Grab the bottle with white cap using the left arm, then shake.", + "Secure the bottle with green label, shake it, and place it down.", + "With the left arm, pick the medium rectangular yellow bottle and shake properly.", + "Shake the bottle with green and white labels after grabbing it.", + "Utilize the left arm to hold the bottle with green and white labels and shake it.", + "Grab the medium rectangular yellow bottle and move it to shake.", + "Lift the bottle with a smooth plastic body and shake it thoroughly.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Catch the bottle with green label and shake it instantly.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Hold the bottle with green label and shake it properly.", + "Grasp the bottle with white cap with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with white cap.", + "Shake the yellow bottle with a green design after grabbing it.", + "Grab the smooth bottle with rounded edges carefully and shake.", + "Use the left arm to pick and shake the bottle with green and white labels.", + "Lift the smooth bottle with rounded edges and shake it gently.", + "Lift the yellow bottle with the left arm and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to hold the bottle with a smooth plastic body and shake it.", + "Use the left arm to lift and shake the bottle with white cap.", + "Hold the plastic bottle steady, then shake it.", + "Using the left arm, shake the bottle with green and white labels and then place it back.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Lift the yellow bottle with a green design with the left arm and shake.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Lift the medium rectangular yellow bottle with the left arm and give it a shake.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Grab and shake the rectangular bottle with cylindrical neck using the left arm.", + "Pick up the medium rectangular yellow bottle and shake it.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Shake the medium rectangular yellow bottle after lifting it.", + "Shake the bottle with white cap firmly after grabbing.", + "Take the yellow bottle with a green design using the left arm and give it a shake." + ], + "unseen": [ + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode57.json b/shake_bottle/ur5_randomized_500/instructions/episode57.json new file mode 100644 index 0000000000000000000000000000000000000000..9d262910a2c04eb5a69e2309f0af258f683a7398 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode57.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the bottle with white cap using the left arm and shake.", + "Shake the yellow container with rounded edges using the left arm after grabbing.", + "Lift up the rectangular bottle with cylindrical neck using the left arm, then shake.", + "Lift the yellow container with rounded edges with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with white cap.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Grab the bottle with green label and give it a shake.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Use the left arm to grab the yellow bottle and shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Take the yellow bottle using the left arm and give it a shake.", + "Hold the rectangular bottle with cylindrical neck with the left arm and shake lightly.", + "Hold the yellow plastic bottle with white top steady, then shake it.", + "Secure the yellow bottle with a green design, shake it, and place it down.", + "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.", + "Lift the bottle with green and white labels and shake it gently.", + "Grab and shake the yellow bottle with a green design using the left arm.", + "Grab the plastic bottle carefully and shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Pick up the yellow bottle with a green design and shake it well.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Lift the yellow plastic bottle with white top with the left arm and give it a shake.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Shake the bottle with green label after holding it firmly.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Shake the plastic bottle firmly after grabbing.", + "Use the left arm to grab the bottle with green label and shake properly.", + "Use the left arm to hold the plastic bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the the bottle with green and white labels properly after lifting.", + "Use the left arm to lift and shake the bottle with green and white labels.", + "Lift the bottle with green and white labels with the left arm and shake.", + "Grasp the bottle with a smooth plastic body with the left arm and shake it.", + "Pick the bottle with green and white labels, shake it with the left arm.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Shake the yellow bottle with a green design after grabbing it.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Hold the plastic bottle, shake it briefly.", + "Grab the yellow bottle with the left arm and shake.", + "Grab the bottle with white cap and move it to shake.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Pick up the yellow plastic bottle with white top and shake it.", + "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Pick the bottle with white cap up with the left arm and shake.", + "Use the left arm to pick and shake the bottle with white cap.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Hold the yellow plastic bottle with white top and shake it properly.", + "Grip the yellow container with rounded edges using the left arm and shake.", + "Shake the yellow container with rounded edges using the left arm after grabbing.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Lift the yellow plastic bottle with white top with the left arm and shake it.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Shake the yellow bottle after grabbing it.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Grab the yellow plastic bottle with white top and give it a shake.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Use the left arm to grab the rectangular bottle with cylindrical neck and shake it.", + "Grab the yellow bottle using the left arm, then shake.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Secure the yellow bottle, shake it, and place it down.", + "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.", + "Lift the bottle with green and white labels and shake it gently.", + "Grab and shake the bottle with green label using the left arm.", + "Grab the medium rectangular yellow bottle carefully and shake.", + "With the left arm, pick the yellow plastic bottle with white top and shake properly.", + "Pick up the yellow bottle and shake it well.", + "Secure the bottle with white cap and perform a shake.", + "Lift the bottle with green and white labels with the left arm and give it a shake.", + "Utilize the left arm to hold the yellow container with rounded edges and shake it.", + "Shake the bottle with green and white labels after holding it firmly.", + "Hold and shake the the bottle with green label carefully.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Use the left arm to grab the bottle with a smooth plastic body and shake properly.", + "Use the left arm to hold the yellow plastic bottle with white top and shake it.", + "Shake the yellow bottle after grabbing it.", + "Shake the the bottle with white cap properly after lifting.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Lift the smooth bottle with rounded edges with the left arm and shake.", + "Grasp the yellow bottle with the left arm and shake it.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Shake the bottle with a smooth plastic body thoroughly after grabbing it.", + "Shake the bottle with white cap after grabbing it.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Hold the bottle with green and white labels, shake it briefly.", + "Grab the smooth bottle with rounded edges with the left arm and shake.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Shake the yellow bottle with a green design after lifting it.", + "Pick up the bottle with white cap and shake it.", + "Using the left arm, shake the yellow container with rounded edges and then place it back.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to pick and shake the smooth bottle with rounded edges.", + "Pick the bottle with a smooth plastic body up using the left arm and shake it.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Hold the yellow bottle and shake it properly." + ], + "unseen": [ + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Use the left arm to grab the yellow rectangular bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode58.json b/shake_bottle/ur5_randomized_500/instructions/episode58.json new file mode 100644 index 0000000000000000000000000000000000000000..42b73910f59c9f24eb8834aaced2be3972aa8cd6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode58.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the orange bottle.", + "Secure the yellow label bottle and perform a shake.", + "Shake the bottle with ribbed orange bottom using the left arm after grabbing.", + "Grab the orange bottle and give it a shake.", + "Shake the bottle with orange cap after grabbing it.", + "Grab the cylindrical orange and white bottle and move it to shake.", + "Grab the bottle with orange cap and shake it steadily.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the medium bottle with orange lid with the left arm and shake.", + "Pick the orange bottle up with the left arm and shake.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the orange and white bottle with cap and shake it.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Catch the smooth plastic bottle and shake it instantly.", + "Shake the orange and white bottle with cap after grabbing it.", + "Lift the orange bottle with the left arm and give it a shake.", + "Hold the medium orange bottle, shake it briefly.", + "Grab the orange bottle carefully and shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick the drinking bottle with yellow label and perform shaking motion.", + "Use the left arm to pick and shake the drinking bottle with yellow label.", + "Secure the medium bottle with orange lid, shake it, and place it down.", + "Use the left arm to grab the white and orange plastic bottle and shake it.", + "Shake the smooth plastic bottle after lifting it.", + "Grip the orange and white bottle with cap using the left arm and shake.", + "Pick up the bottle with orange cap and shake it.", + "Shake the orange and white bottle with cap firmly after grabbing.", + "Pick the cylindrical orange and white bottle, shake it with the left arm.", + "Grasp the medium bottle with orange lid with the left arm and shake it.", + "Take the orange and white bottle with cap using the left arm and give it a shake.", + "Shake the the orange and white bottle with cap properly after lifting.", + "Lift the white and orange plastic bottle with the left arm and shake it.", + "Hold the smooth plastic bottle and shake it properly.", + "Grab the yellow label bottle using the left arm, then shake.", + "Use the left arm to grab the cylindrical orange and white bottle and shake properly.", + "Lift the bottle with ribbed orange bottom and shake it gently.", + "Use the left arm to hold the bottle with orange cap and shake it.", + "Use the left arm to lift and shake the yellow label bottle.", + "Shake the medium orange bottle after holding it firmly.", + "Pick up the medium orange bottle and shake it well.", + "Hold the white and orange plastic bottle steady, then shake it.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Lift the drinking bottle with yellow label and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Grab and shake the white and orange plastic bottle using the left arm.", + "Lift up the orange bottle using the left arm, then shake.", + "Shake the cylindrical orange and white bottle thoroughly after grabbing it.", + "Hold and shake the the orange bottle carefully.", + "Pick the orange bottle up using the left arm and shake it.", + "Lift the bottle with ribbed orange bottom with the left arm and shake.", + "Use the left arm to lift and shake the cylindrical orange and white bottle.", + "Secure the orange bottle and perform a shake.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Grab the drinking bottle with yellow label and give it a shake.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Grab the bottle with orange cap and shake it steadily.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Grab the bottle with orange cap with the left arm and shake.", + "Pick the bottle with ribbed orange bottom up with the left arm and shake.", + "Hold the medium orange bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the medium bottle with orange lid and shake it.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Catch the orange and white bottle with cap and shake it instantly.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Lift the orange bottle with the left arm and give it a shake.", + "Hold the white and orange plastic bottle, shake it briefly.", + "Grab the bottle with orange cap carefully and shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick the orange and white bottle with cap and perform shaking motion.", + "Use the left arm to pick and shake the plastic bottle.", + "Secure the medium bottle with orange lid, shake it, and place it down.", + "Use the left arm to grab the drinking bottle with yellow label and shake it.", + "Shake the bottle with orange cap after lifting it.", + "Grip the orange bottle using the left arm and shake.", + "Pick up the smooth plastic bottle and shake it.", + "Shake the medium bottle with orange lid firmly after grabbing.", + "Pick the orange and white bottle with cap, shake it with the left arm.", + "Grasp the bottle with orange cap with the left arm and shake it.", + "Take the cylindrical orange and white bottle using the left arm and give it a shake.", + "Shake the the orange bottle properly after lifting.", + "Lift the drinking bottle with yellow label with the left arm and shake it.", + "Hold the smooth plastic bottle and shake it properly.", + "Grab the medium bottle with orange lid using the left arm, then shake.", + "Use the left arm to grab the medium orange bottle and shake properly.", + "Lift the medium bottle with orange lid and shake it gently.", + "Use the left arm to hold the cylindrical orange and white bottle and shake it.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Shake the orange bottle after holding it firmly.", + "Pick up the orange bottle and shake it well.", + "Hold the drinking bottle with yellow label steady, then shake it.", + "With the left arm, pick the medium orange bottle and shake properly.", + "Lift the yellow label bottle and shake it thoroughly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Lift up the orange and white bottle with cap using the left arm, then shake.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Hold and shake the the bottle with orange cap carefully.", + "Pick the bottle with orange cap up using the left arm and shake it.", + "Lift the smooth plastic bottle with the left arm and shake." + ], + "unseen": [ + "Grab the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the left arm.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the left arm to grab the bottle with curved body and shake.", + "Shake the bottle with curved body after picking it with the left arm.", + "Pick up the bottle with curved body with the left arm and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick and shake the the curvy orange bottle with white section with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode59.json b/shake_bottle/ur5_randomized_500/instructions/episode59.json new file mode 100644 index 0000000000000000000000000000000000000000..b1075bf2c54e052f6180fbc383b5b55967263cf6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode59.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium bottle with smooth texture after grabbing it.", + "Pick the smooth brown bottle up using the left arm and shake it.", + "Grab the bottle with dark brown color with the left arm and shake.", + "Take the plastic bottle for liquids using the left arm and give it a shake.", + "Grab the bottle with brown body and white top carefully and shake.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Pick the white-capped brown cylindrical bottle up with the left arm and shake.", + "Grab the white-capped brown cylindrical bottle using the left arm, then shake.", + "Hold the plastic bottle with printed label with the left arm and shake lightly.", + "Pick the bottle with white cap, shake it with the left arm.", + "Lift the white-capped brown cylindrical bottle and shake it thoroughly.", + "Shake the the handheld brown bottle with white lid properly after lifting.", + "Use the left arm to lift and shake the rounded bottle with printed details.", + "Hold the bottle with white cap steady, then shake it.", + "Grip the white-capped brown cylindrical bottle using the left arm and shake.", + "Lift the bottle with white cap with the left arm and shake.", + "Lift the smooth brown bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium bottle with smooth texture.", + "Lift the medium plastic bottle with the left arm and shake it.", + "Grab the plastic bottle with printed label firmly, shake it, and put it down.", + "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake it.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Secure the smooth brown bottle and perform a shake.", + "Lift the medium bottle with smooth texture and shake it gently.", + "Using the left arm, shake the medium bottle with smooth texture and then place it back.", + "Use the left arm to pick and shake the medium bottle with smooth texture.", + "Use the left arm to hold the plastic bottle with printed label and shake it.", + "Shake the plastic bottle with printed label after lifting it.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Pick up the rounded bottle with printed details and shake it.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Catch the medium plastic bottle and shake it instantly.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "With the left arm, pick the smooth brown bottle and shake properly.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Shake the handheld brown bottle with white lid thoroughly after grabbing it.", + "Hold the cylindrical bottle with narrow neck and shake it properly.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.", + "Use the left arm to grab the bottle with brown body and white top and shake properly.", + "Use the left arm to lift and shake the bottle with brown body and white top.", + "Grasp the plastic bottle for liquids with the left arm and shake it.", + "Grab the handheld brown bottle with white lid and give it a shake.", + "Shake the smooth brown bottle after grabbing it.", + "Grab and shake the bottle with white cap using the left arm.", + "Grab the bottle with dark brown color and shake it steadily.", + "Hold and shake the the handheld brown bottle with white lid carefully.", + "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Pick the white-capped brown cylindrical bottle up using the left arm and shake it.", + "Grab the bottle with brown body and white top with the left arm and shake.", + "Take the medium bottle with smooth texture using the left arm and give it a shake.", + "Grab the rounded bottle with printed details carefully and shake.", + "Pick the rounded bottle with printed details and perform shaking motion.", + "Pick the bottle with brown body and white top up with the left arm and shake.", + "Grab the plastic bottle with printed label using the left arm, then shake.", + "Hold the rounded bottle with printed details with the left arm and shake lightly.", + "Pick the bottle with dark brown color, shake it with the left arm.", + "Lift the rounded bottle with printed details and shake it thoroughly.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Use the left arm to lift and shake the bottle with white cap.", + "Hold the bottle with dark brown color steady, then shake it.", + "Grip the plastic bottle with printed label using the left arm and shake.", + "Lift the bottle with brown body and white top with the left arm and shake.", + "Lift the handheld brown bottle with white lid with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Lift the plastic bottle with printed label with the left arm and shake it.", + "Grab the bottle with dark brown color firmly, shake it, and put it down.", + "Lift up the cylindrical bottle with narrow neck using the left arm, then shake.", + "Use the left arm to grab the white-capped brown cylindrical bottle and shake it.", + "Pick up the smooth brown bottle and shake it well.", + "Secure the plastic bottle with printed label and perform a shake.", + "Lift the bottle with brown body and white top and shake it gently.", + "Using the left arm, shake the plastic bottle for liquids and then place it back.", + "Use the left arm to pick and shake the plastic bottle with printed label.", + "Use the left arm to hold the bottle with dark brown color and shake it.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Grab the rounded bottle with printed details and move it to shake.", + "Pick up the bottle with white cap and shake it.", + "Shake the handheld brown bottle with white lid firmly after grabbing.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Shake the bottle with dark brown color after holding it firmly.", + "With the left arm, pick the white-capped brown cylindrical bottle and shake properly.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Shake the plastic bottle with printed label thoroughly after grabbing it.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Hold the handheld brown bottle with white lid, shake it briefly.", + "Shake the white-capped brown cylindrical bottle using the left arm after grabbing.", + "Use the left arm to grab the medium plastic bottle and shake properly.", + "Use the left arm to lift and shake the plastic bottle with printed label.", + "Grasp the smooth brown bottle with the left arm and shake it.", + "Grab the medium bottle with smooth texture and give it a shake.", + "Shake the plastic bottle for liquids after grabbing it.", + "Grab and shake the plastic bottle with printed label using the left arm.", + "Grab the rounded bottle with printed details and shake it steadily.", + "Hold and shake the the smooth brown bottle carefully.", + "Utilize the left arm to hold the bottle with white cap and shake it.", + "Secure the rounded bottle with printed details, shake it, and place it down." + ], + "unseen": [ + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label with the left arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the brown cylindrical bottle with label with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the lightweight plastic brown bottle.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Shake the brown cylindrical bottle with label after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the lightweight plastic brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the lightweight plastic brown bottle with the left arm.", + "Use the left arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the left arm to pick the brown cylindrical bottle with label." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode6.json b/shake_bottle/ur5_randomized_500/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..cfb28ff3ff4ecc7f631096a77ec95e3fd9af9e3e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Hold the medium dark brown bottle and shake it properly.", + "Grab the plastic drink bottle and shake it steadily.", + "Grab the long thin bottle and give it a shake.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Catch the medium dark brown bottle and shake it instantly.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Lift the plastic drink bottle with the right arm and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Shake the long thin bottle firmly after grabbing.", + "Lift the medium dark brown bottle and shake it gently.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Shake the medium dark brown bottle after grabbing it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Secure the red-capped bottle and perform a shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the narrow-necked bottle after lifting it.", + "Pick up the plastic drink bottle and shake it well.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Grab the plastic drink bottle and move it to shake.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Lift the plastic drink bottle with the right arm and shake.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Hold the long thin bottle steady, then shake it.", + "Hold the narrow-necked bottle and shake it properly.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Grab the hand-sized soda bottle and give it a shake.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Grip the plastic drink bottle using the right arm and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Pick up the bottle with ridges on bottom and shake it.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Hold and shake the the narrow-necked bottle carefully.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Lift the red-capped bottle and shake it gently.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Secure the bottle with white neck and red top and perform a shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Grab the medium dark brown bottle carefully and shake.", + "Shake the plastic drink bottle after lifting it.", + "Pick up the plastic drink bottle and shake it well.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grab the dark drink bottle with logo and move it to shake.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Shake the hand-sized soda bottle after holding it firmly." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode60.json b/shake_bottle/ur5_randomized_500/instructions/episode60.json new file mode 100644 index 0000000000000000000000000000000000000000..716ba0662bf63420d66ee7f5df22c213db0bc2a3 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode60.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the cylindrical bottle with narrow neck and shake it.", + "Grab the rounded bottle with printed details and move it to shake.", + "Pick up the medium plastic bottle and shake it well.", + "Lift the medium plastic bottle with the right arm and shake it.", + "Take the bottle with brown body and white top using the right arm and give it a shake.", + "Use the right arm to lift and shake the rounded bottle with printed details.", + "Secure the bottle with brown body and white top, shake it, and place it down.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Use the right arm to grab the plastic bottle for liquids and shake properly.", + "Pick the medium bottle with smooth texture and perform shaking motion.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Grasp the bottle with dark brown color with the right arm and shake it.", + "Lift the medium bottle with smooth texture with the right arm and give it a shake.", + "Shake the cylindrical bottle with narrow neck after holding it firmly.", + "Shake the medium bottle with smooth texture using the right arm after grabbing.", + "Lift the medium bottle with smooth texture and shake it thoroughly.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Hold and shake the the bottle with brown body and white top carefully.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Pick the white-capped brown cylindrical bottle up using the right arm and shake it.", + "Hold the handheld brown bottle with white lid, shake it briefly.", + "Shake the bottle with dark brown color after grabbing it.", + "Grab the smooth brown bottle with the right arm and shake.", + "Grab the medium plastic bottle using the right arm, then shake.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Secure the smooth brown bottle and perform a shake.", + "Grab and shake the rounded bottle with printed details using the right arm.", + "Pick up the rounded bottle with printed details and shake it.", + "Shake the plastic bottle for liquids after grabbing it.", + "Hold the white-capped brown cylindrical bottle and shake it properly.", + "With the right arm, pick the plastic bottle with printed label and shake properly.", + "Grip the plastic bottle with printed label using the right arm and shake.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Shake the handheld brown bottle with white lid after lifting it.", + "Use the right arm to grab the handheld brown bottle with white lid and shake it.", + "Pick the plastic bottle for liquids up with the right arm and shake.", + "Use the right arm to pick and shake the bottle with white cap.", + "Grab the bottle with dark brown color carefully and shake.", + "Shake the the white-capped brown cylindrical bottle properly after lifting.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Grab the medium bottle with smooth texture and give it a shake.", + "Pick the white-capped brown cylindrical bottle, shake it with the right arm.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Shake the plastic bottle with printed label thoroughly after grabbing it.", + "Utilize the right arm to hold the medium bottle with smooth texture and shake it.", + "Grab the rounded bottle with printed details firmly, shake it, and put it down.", + "Lift up the plastic bottle with printed label using the right arm, then shake.", + "Hold the rounded bottle with printed details with the right arm and shake lightly.", + "Use the right arm to hold the smooth brown bottle and shake it.", + "Grab the handheld brown bottle with white lid and move it to shake.", + "Pick up the bottle with brown body and white top and shake it well.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake it.", + "Take the medium plastic bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with white cap.", + "Secure the medium bottle with smooth texture, shake it, and place it down.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Use the right arm to grab the bottle with white cap and shake properly.", + "Pick the cylindrical bottle with narrow neck and perform shaking motion.", + "Lift the bottle with brown body and white top with the right arm and shake.", + "Using the right arm, shake the bottle with dark brown color and then place it back.", + "Grasp the handheld brown bottle with white lid with the right arm and shake it.", + "Lift the white-capped brown cylindrical bottle with the right arm and give it a shake.", + "Shake the bottle with white cap after holding it firmly.", + "Shake the bottle with brown body and white top using the right arm after grabbing.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Shake the plastic bottle with printed label after grabbing it.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Shake the bottle with brown body and white top firmly after grabbing.", + "Pick the medium bottle with smooth texture up using the right arm and shake it.", + "Hold the plastic bottle for liquids, shake it briefly.", + "Shake the plastic bottle for liquids after grabbing it.", + "Grab the cylindrical bottle with narrow neck with the right arm and shake.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Secure the white-capped brown cylindrical bottle and perform a shake.", + "Grab and shake the medium bottle with smooth texture using the right arm.", + "Pick up the bottle with dark brown color and shake it.", + "Shake the bottle with white cap after grabbing it.", + "Hold the smooth brown bottle and shake it properly.", + "With the right arm, pick the medium bottle with smooth texture and shake properly.", + "Grip the bottle with white cap using the right arm and shake.", + "Lift the bottle with white cap and shake it gently.", + "Shake the bottle with dark brown color after lifting it.", + "Use the right arm to grab the bottle with brown body and white top and shake it.", + "Pick the bottle with white cap up with the right arm and shake.", + "Use the right arm to pick and shake the rounded bottle with printed details.", + "Grab the bottle with dark brown color carefully and shake.", + "Shake the the bottle with white cap properly after lifting.", + "Catch the handheld brown bottle with white lid and shake it instantly.", + "Use the right arm to lift and shake the bottle with brown body and white top.", + "Grab the bottle with white cap and give it a shake.", + "Pick the rounded bottle with printed details, shake it with the right arm.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Shake the medium plastic bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the cylindrical bottle with narrow neck and shake it.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Lift up the bottle with brown body and white top using the right arm, then shake.", + "Hold the bottle with white cap with the right arm and shake lightly." + ], + "unseen": [ + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode61.json b/shake_bottle/ur5_randomized_500/instructions/episode61.json new file mode 100644 index 0000000000000000000000000000000000000000..5652fe38101f0cc4ef2e44771f636c46138ed533 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode61.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the brown bottle with white printed label.", + "Hold the bottle with green cap with the left arm and shake lightly.", + "With the left arm, pick the cylindrical bottle with white label and shake properly.", + "Shake the smooth plastic bottle for beverages after holding it firmly.", + "Grab the plastic bottle with ribbed pattern and give it a shake.", + "Pick the cylindrical bottle with white label and perform shaking motion.", + "Pick up the plastic bottle with ribbed pattern and shake it well.", + "Hold the brown bottle with green screw-on cap and shake it properly.", + "Hold the hand-sized bottle with grooves steady, then shake it.", + "Grab the plastic bottle with ribbed pattern using the left arm, then shake.", + "Lift the small drink bottle with logo with the left arm and shake it.", + "Shake the the brown bottle properly after lifting.", + "Lift the plastic bottle with ribbed pattern with the left arm and give it a shake.", + "Take the plastic bottle with ribbed pattern using the left arm and give it a shake.", + "Shake the small drink bottle with logo after grabbing it.", + "Pick the green-capped bottle up using the left arm and shake it.", + "Catch the plastic bottle with ribbed pattern and shake it instantly.", + "Use the left arm to lift and shake the bottle with tapered cylindrical shape.", + "Lift up the small brown plastic bottle using the left arm, then shake.", + "Shake the cylindrical bottle with white label after grabbing it.", + "Pick the smooth plastic bottle for beverages up with the left arm and shake.", + "Grab the plastic bottle with ribbed pattern carefully and shake.", + "Utilize the left arm to hold the cylindrical bottle with white label and shake it.", + "Secure the bottle with tapered cylindrical shape and perform a shake.", + "Shake the small brown plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Pick the brown bottle with green screw-on cap, shake it with the left arm.", + "Hold and shake the the smooth plastic bottle for beverages carefully.", + "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.", + "Shake the brown bottle with green screw-on cap using the left arm after grabbing.", + "Grab the plastic bottle with ribbed pattern with the left arm and shake.", + "Shake the bottle with green cap after lifting it.", + "Secure the brown bottle with green screw-on cap, shake it, and place it down.", + "Hold the bottle with green cap, shake it briefly.", + "Use the left arm to grab the cylindrical bottle with white label and shake it.", + "Lift the green-capped bottle with the left arm and shake.", + "Grab and shake the bottle with green cap using the left arm.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Using the left arm, shake the small brown plastic bottle and then place it back.", + "Shake the small drink bottle with logo firmly after grabbing.", + "Pick up the smooth plastic bottle for beverages and shake it.", + "Use the left arm to hold the green-capped bottle and shake it.", + "Use the left arm to pick and shake the smooth plastic bottle for beverages.", + "Grip the small brown plastic bottle using the left arm and shake.", + "Grab the brown bottle and shake it steadily.", + "Lift the brown bottle with white printed label and shake it gently.", + "Use the left arm to grab the small drink bottle with logo and shake properly.", + "Grab the hand-sized bottle with grooves and move it to shake.", + "Lift the bottle with tapered cylindrical shape and shake it thoroughly.", + "Grasp the plastic bottle with ribbed pattern with the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with white printed label.", + "Hold the hand-sized bottle with grooves with the left arm and shake lightly.", + "With the left arm, pick the hand-sized bottle with grooves and shake properly.", + "Shake the brown bottle after holding it firmly.", + "Grab the small drink bottle with logo and give it a shake.", + "Pick the brown bottle and perform shaking motion.", + "Pick up the small brown plastic bottle and shake it well.", + "Hold the hand-sized bottle with grooves and shake it properly.", + "Hold the green-capped bottle steady, then shake it.", + "Grab the bottle with tapered cylindrical shape using the left arm, then shake.", + "Lift the brown bottle with the left arm and shake it.", + "Shake the the brown bottle properly after lifting.", + "Lift the small brown plastic bottle with the left arm and give it a shake.", + "Take the cylindrical bottle with white label using the left arm and give it a shake.", + "Shake the bottle with green cap after grabbing it.", + "Pick the hand-sized bottle with grooves up using the left arm and shake it.", + "Catch the small brown plastic bottle and shake it instantly.", + "Use the left arm to lift and shake the cylindrical bottle with white label.", + "Lift up the hand-sized bottle with grooves using the left arm, then shake.", + "Shake the brown bottle with white printed label after grabbing it.", + "Pick the bottle with green cap up with the left arm and shake.", + "Grab the hand-sized bottle with grooves carefully and shake.", + "Utilize the left arm to hold the small brown plastic bottle and shake it.", + "Secure the smooth plastic bottle for beverages and perform a shake.", + "Shake the brown bottle with white printed label thoroughly after grabbing it.", + "Use the left arm to lift and shake the brown bottle with green screw-on cap.", + "Pick the bottle with tapered cylindrical shape, shake it with the left arm.", + "Hold and shake the the brown bottle with green screw-on cap carefully.", + "Grab the small drink bottle with logo firmly, shake it, and put it down.", + "Shake the green-capped bottle using the left arm after grabbing.", + "Grab the small drink bottle with logo with the left arm and shake.", + "Shake the bottle with green cap after lifting it.", + "Secure the smooth plastic bottle for beverages, shake it, and place it down.", + "Hold the green-capped bottle, shake it briefly.", + "Use the left arm to grab the bottle with green cap and shake it.", + "Lift the smooth plastic bottle for beverages with the left arm and shake.", + "Grab and shake the brown bottle with green screw-on cap using the left arm.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Using the left arm, shake the brown bottle and then place it back.", + "Shake the bottle with green cap firmly after grabbing.", + "Pick up the cylindrical bottle with white label and shake it.", + "Use the left arm to hold the brown bottle with green screw-on cap and shake it.", + "Use the left arm to pick and shake the smooth plastic bottle for beverages.", + "Grip the smooth plastic bottle for beverages using the left arm and shake.", + "Grab the brown bottle with white printed label and shake it steadily.", + "Lift the bottle with green cap and shake it gently.", + "Use the left arm to grab the cylindrical bottle with white label and shake properly.", + "Grab the bottle with green cap and move it to shake.", + "Lift the cylindrical bottle with white label and shake it thoroughly.", + "Grasp the brown bottle with the left arm and shake it." + ], + "unseen": [ + "Grab the bottle with coffee-colored body and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick and shake the the bottle with coffee-colored body with the left arm.", + "Use the left arm to pick the bottle with coffee-colored body.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the plastic Starbucks bottle after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with coffee-colored body and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the bottle with Starbucks logo on label with the left arm.", + "Use the left arm to pick the plastic Starbucks bottle.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Shake the bottle with coffee-colored body after picking it with the left arm.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Pick up the plastic Starbucks bottle and shake it.", + "Shake the bottle with Starbucks logo on label after picking it with the left arm.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Pick up the plastic Starbucks bottle with the left arm and shake.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick and shake the the plastic Starbucks bottle with the left arm.", + "Use the left arm to pick the bottle with Starbucks logo on label." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode62.json b/shake_bottle/ur5_randomized_500/instructions/episode62.json new file mode 100644 index 0000000000000000000000000000000000000000..fc16fdd6240b33dfe6a13f4b50f185ccfc7a9d3d --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode62.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Hold the hand-sized plastic bottle and shake it properly.", + "Grab the curved bottle with white top carefully and shake.", + "Grab the small curved plastic bottle and give it a shake.", + "With the right arm, pick the brown bottle and shake properly.", + "Pick the white-capped bottle up using the right arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the brown bottle firmly after grabbing.", + "Shake the bottle with black label thoroughly after grabbing it.", + "Grab the smooth brown and white patterned bottle and move it to shake.", + "Grab and shake the curved bottle with white top using the right arm.", + "Pick the bottle with black label, shake it with the right arm.", + "Lift the curved bottle with white top with the right arm and shake it.", + "Using the right arm, shake the curved bottle with white top and then place it back.", + "Utilize the right arm to hold the smooth brown and white patterned bottle and shake it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Hold and shake the the smooth brown and white patterned bottle carefully.", + "Use the right arm to hold the small curved plastic bottle and shake it.", + "Shake the the small curved plastic bottle properly after lifting.", + "Use the right arm to pick and shake the bottle holding liquid.", + "Shake the hand-sized plastic bottle after grabbing it.", + "Pick up the bottle with white screw cap and shake it.", + "Shake the small bottle with decorative design after lifting it.", + "Shake the bottle with brown and white patterns using the right arm after grabbing.", + "Hold the bottle with black label with the right arm and shake lightly.", + "Secure the white-capped bottle, shake it, and place it down.", + "Use the right arm to grab the white-capped bottle and shake it.", + "Use the right arm to lift and shake the bottle with brown and white patterns.", + "Use the right arm to grab the brown bottle and shake properly.", + "Pick the smooth brown and white patterned bottle and perform shaking motion.", + "Lift the brown bottle and shake it gently.", + "Lift up the small curved plastic bottle using the right arm, then shake.", + "Secure the white-capped bottle and perform a shake.", + "Grab the bottle with brown and white patterns firmly, shake it, and put it down.", + "Grab the bottle with white screw cap and shake it steadily.", + "Take the white-capped bottle using the right arm and give it a shake.", + "Grab the plastic bottle with the right arm and shake.", + "Lift the white-capped bottle with the right arm and shake.", + "Grip the brown bottle using the right arm and shake.", + "Shake the small curved plastic bottle after holding it firmly.", + "Catch the white-capped bottle and shake it instantly.", + "Grab the bottle holding liquid using the right arm, then shake.", + "Pick up the small curved plastic bottle and shake it well.", + "Hold the plastic bottle, shake it briefly.", + "Use the right arm to lift and shake the bottle with black label.", + "Use the right arm to lift and shake the hand-sized plastic bottle.", + "Hold the white-capped bottle steady, then shake it.", + "Pick the bottle with white screw cap up with the right arm and shake.", + "Lift the smooth brown and white patterned bottle and shake it thoroughly.", + "Lift the brown bottle with the right arm and give it a shake.", + "Shake the bottle with black label after grabbing it.", + "Hold the small bottle with decorative design and shake it properly.", + "Grab the small curved plastic bottle carefully and shake.", + "Grab the bottle holding liquid and give it a shake.", + "With the right arm, pick the white-capped bottle and shake properly.", + "Pick the small curved plastic bottle up using the right arm and shake it.", + "Shake the curved bottle with white top after grabbing it.", + "Shake the smooth brown and white patterned bottle firmly after grabbing.", + "Shake the curved bottle with white top thoroughly after grabbing it.", + "Grab the brown bottle and move it to shake.", + "Grab and shake the small curved plastic bottle using the right arm.", + "Pick the bottle holding liquid, shake it with the right arm.", + "Lift the small bottle with decorative design with the right arm and shake it.", + "Using the right arm, shake the bottle with black label and then place it back.", + "Utilize the right arm to hold the brown bottle and shake it.", + "Grasp the small curved plastic bottle with the right arm and shake it.", + "Hold and shake the the bottle with black label carefully.", + "Use the right arm to hold the bottle with white screw cap and shake it.", + "Shake the the white-capped bottle properly after lifting.", + "Use the right arm to pick and shake the small curved plastic bottle.", + "Shake the hand-sized plastic bottle after grabbing it.", + "Pick up the bottle with white screw cap and shake it.", + "Shake the plastic bottle after lifting it.", + "Shake the bottle with white screw cap using the right arm after grabbing.", + "Hold the hand-sized plastic bottle with the right arm and shake lightly.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to grab the brown bottle and shake it.", + "Use the right arm to lift and shake the white-capped bottle.", + "Use the right arm to grab the bottle with brown and white patterns and shake properly.", + "Pick the curved bottle with white top and perform shaking motion.", + "Lift the bottle with white screw cap and shake it gently.", + "Lift up the brown bottle using the right arm, then shake.", + "Secure the hand-sized plastic bottle and perform a shake.", + "Grab the small curved plastic bottle firmly, shake it, and put it down.", + "Grab the hand-sized plastic bottle and shake it steadily.", + "Take the smooth brown and white patterned bottle using the right arm and give it a shake.", + "Grab the curved bottle with white top with the right arm and shake.", + "Lift the hand-sized plastic bottle with the right arm and shake.", + "Grip the bottle holding liquid using the right arm and shake.", + "Shake the small curved plastic bottle after holding it firmly.", + "Catch the brown bottle and shake it instantly.", + "Grab the smooth brown and white patterned bottle using the right arm, then shake.", + "Pick up the small curved plastic bottle and shake it well.", + "Hold the white-capped bottle, shake it briefly.", + "Use the right arm to lift and shake the small bottle with decorative design.", + "Use the right arm to lift and shake the white-capped bottle.", + "Hold the bottle with brown and white patterns steady, then shake it.", + "Pick the smooth brown and white patterned bottle up with the right arm and shake.", + "Lift the bottle with white screw cap and shake it thoroughly." + ], + "unseen": [ + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the glossy brown bottle and shake it.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the glossy brown bottle and shake it.", + "Pick and shake the the glossy brown bottle with the right arm.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the glossy brown bottle and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Pick up the glossy brown bottle and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Use the right arm to grab the cylindrical bottle with curved sides and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.", + "Grab the glossy brown bottle and shake it.", + "Grab the glossy brown bottle and give it a shake.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Use the right arm to pick the glossy brown bottle.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the glossy brown bottle after picking it with the right arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Grab the glossy brown bottle and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the cylindrical bottle with curved sides with the right arm and shake.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Pick up the glossy brown bottle and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the cylindrical bottle with curved sides after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the brown bottle with glossy swirls and shake it.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the glossy brown bottle, shake it properly, then set it down.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Use the right arm to pick the cylindrical bottle with curved sides.", + "Pick up the glossy brown bottle with the right arm and shake.", + "Use the right arm to grab the glossy brown bottle and shake.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Pick and shake the the cylindrical bottle with curved sides with the right arm.", + "Pick up the glossy brown bottle and shake it.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the brown bottle with glossy swirls and shake it.", + "Grab the cylindrical bottle with curved sides and give it a shake.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls with the right arm and shake.", + "Use the right arm to grab the brown bottle with glossy swirls and shake.", + "Pick up the glossy brown bottle and shake it.", + "Pick and shake the the brown bottle with glossy swirls with the right arm.", + "Pick up the cylindrical bottle with curved sides and shake it.", + "Shake the brown bottle with glossy swirls after picking it with the right arm.", + "Grab the brown bottle with glossy swirls, shake it properly, then set it down.", + "Grab the cylindrical bottle with curved sides and shake it.", + "Grab the brown bottle with glossy swirls and give it a shake.", + "Use the right arm to pick the brown bottle with glossy swirls.", + "Pick up the brown bottle with glossy swirls with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode63.json b/shake_bottle/ur5_randomized_500/instructions/episode63.json new file mode 100644 index 0000000000000000000000000000000000000000..bfcbb05d2172c514693a7151a90be2ebf2219bfe --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode63.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the right arm to hold the hand-sized bottle with grooves and shake it.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Hold the brown bottle with white printed label steady, then shake it.", + "Grab the cylindrical bottle with white label with the right arm and shake.", + "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.", + "Grasp the hand-sized bottle with grooves with the right arm and shake it.", + "Pick up the brown bottle with green screw-on cap and shake it well.", + "Pick the plastic bottle with ribbed pattern, shake it with the right arm.", + "Grip the hand-sized bottle with grooves using the right arm and shake.", + "Hold and shake the the plastic bottle with ribbed pattern carefully.", + "Lift up the brown bottle with white printed label using the right arm, then shake.", + "Pick the plastic bottle with ribbed pattern up using the right arm and shake it.", + "Pick up the small drink bottle with logo and shake it.", + "Catch the cylindrical bottle with white label and shake it instantly.", + "Shake the bottle with tapered cylindrical shape firmly after grabbing.", + "Take the hand-sized bottle with grooves using the right arm and give it a shake.", + "Grab and shake the brown bottle with white printed label using the right arm.", + "Lift the bottle with green cap with the right arm and give it a shake.", + "Use the right arm to grab the plastic bottle with ribbed pattern and shake it.", + "Use the right arm to pick and shake the green-capped bottle.", + "Secure the cylindrical bottle with white label, shake it, and place it down.", + "Shake the smooth plastic bottle for beverages using the right arm after grabbing.", + "Secure the small drink bottle with logo and perform a shake.", + "Use the right arm to lift and shake the small brown plastic bottle.", + "Lift the smooth plastic bottle for beverages with the right arm and shake it.", + "Grab the smooth plastic bottle for beverages using the right arm, then shake.", + "Hold the green-capped bottle with the right arm and shake lightly.", + "With the right arm, pick the small brown plastic bottle and shake properly.", + "Pick the brown bottle with green screw-on cap and perform shaking motion.", + "Grab the bottle with tapered cylindrical shape and shake it steadily.", + "Hold the brown bottle and shake it properly.", + "Grab the bottle with tapered cylindrical shape and move it to shake.", + "Lift the smooth plastic bottle for beverages and shake it gently.", + "Use the right arm to lift and shake the bottle with tapered cylindrical shape.", + "Shake the hand-sized bottle with grooves after grabbing it.", + "Use the right arm to hold the hand-sized bottle with grooves and shake it.", + "Lift the green-capped bottle with the right arm and shake.", + "Shake the brown bottle with green screw-on cap after grabbing it.", + "Hold the bottle with tapered cylindrical shape, shake it briefly.", + "Grab the brown bottle with white printed label and give it a shake.", + "Shake the the bottle with green cap properly after lifting.", + "Pick the bottle with green cap up with the right arm and shake.", + "Shake the smooth plastic bottle for beverages after holding it firmly.", + "Grab the cylindrical bottle with white label carefully and shake.", + "Grab the hand-sized bottle with grooves firmly, shake it, and put it down.", + "Shake the bottle with green cap after grabbing it.", + "Use the right arm to grab the brown bottle and shake properly.", + "Shake the brown bottle with white printed label after lifting it.", + "Using the right arm, shake the smooth plastic bottle for beverages and then place it back.", + "Lift the brown bottle and shake it thoroughly.", + "Utilize the right arm to hold the small brown plastic bottle and shake it.", + "Use the right arm to lift and shake the brown bottle.", + "Hold the hand-sized bottle with grooves steady, then shake it.", + "Grab the plastic bottle with ribbed pattern with the right arm and shake.", + "Shake the brown bottle with white printed label thoroughly after grabbing it.", + "Grasp the cylindrical bottle with white label with the right arm and shake it.", + "Pick up the bottle with tapered cylindrical shape and shake it well.", + "Pick the smooth plastic bottle for beverages, shake it with the right arm.", + "Grip the green-capped bottle using the right arm and shake.", + "Hold and shake the the bottle with tapered cylindrical shape carefully.", + "Lift up the brown bottle with white printed label using the right arm, then shake.", + "Pick the small brown plastic bottle up using the right arm and shake it.", + "Pick up the smooth plastic bottle for beverages and shake it.", + "Catch the small brown plastic bottle and shake it instantly.", + "Shake the brown bottle with green screw-on cap firmly after grabbing.", + "Take the brown bottle with white printed label using the right arm and give it a shake.", + "Grab and shake the bottle with tapered cylindrical shape using the right arm.", + "Lift the plastic bottle with ribbed pattern with the right arm and give it a shake.", + "Use the right arm to grab the bottle with green cap and shake it.", + "Use the right arm to pick and shake the plastic bottle with ribbed pattern.", + "Secure the small brown plastic bottle, shake it, and place it down.", + "Shake the bottle with green cap using the right arm after grabbing.", + "Secure the brown bottle with green screw-on cap and perform a shake.", + "Use the right arm to lift and shake the bottle with green cap.", + "Lift the bottle with tapered cylindrical shape with the right arm and shake it.", + "Grab the smooth plastic bottle for beverages using the right arm, then shake.", + "Hold the hand-sized bottle with grooves with the right arm and shake lightly.", + "With the right arm, pick the smooth plastic bottle for beverages and shake properly.", + "Pick the small drink bottle with logo and perform shaking motion.", + "Grab the brown bottle with green screw-on cap and shake it steadily.", + "Hold the bottle with tapered cylindrical shape and shake it properly.", + "Grab the bottle with tapered cylindrical shape and move it to shake.", + "Lift the brown bottle and shake it gently.", + "Use the right arm to lift and shake the smooth plastic bottle for beverages.", + "Shake the smooth plastic bottle for beverages after grabbing it.", + "Use the right arm to hold the plastic bottle with ribbed pattern and shake it.", + "Lift the hand-sized bottle with grooves with the right arm and shake.", + "Shake the plastic bottle with ribbed pattern after grabbing it.", + "Hold the brown bottle with green screw-on cap, shake it briefly.", + "Grab the smooth plastic bottle for beverages and give it a shake.", + "Shake the the small brown plastic bottle properly after lifting.", + "Pick the hand-sized bottle with grooves up with the right arm and shake.", + "Shake the smooth plastic bottle for beverages after holding it firmly.", + "Grab the brown bottle with green screw-on cap carefully and shake.", + "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.", + "Shake the small drink bottle with logo after grabbing it.", + "Use the right arm to grab the small drink bottle with logo and shake properly.", + "Shake the smooth plastic bottle for beverages after lifting it.", + "Using the right arm, shake the small brown plastic bottle and then place it back.", + "Lift the brown bottle with white printed label and shake it thoroughly." + ], + "unseen": [ + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with coffee-colored body and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with coffee-colored body.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Shake the bottle with Starbucks logo on label after picking it with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with coffee-colored body with the right arm and shake.", + "Pick and shake the the bottle with coffee-colored body with the right arm.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the bottle with coffee-colored body and give it a shake.", + "Grab the bottle with coffee-colored body, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with coffee-colored body and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the bottle with Starbucks logo on label.", + "Pick up the plastic Starbucks bottle with the right arm and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the plastic Starbucks bottle after picking it with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the plastic Starbucks bottle and shake it.", + "Pick up the bottle with coffee-colored body and shake it.", + "Use the right arm to grab the bottle with coffee-colored body and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the bottle with Starbucks logo on label with the right arm.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the bottle with Starbucks logo on label and give it a shake.", + "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the plastic Starbucks bottle and shake it.", + "Use the right arm to grab the bottle with Starbucks logo on label and shake.", + "Grab the plastic Starbucks bottle and shake it.", + "Use the right arm to pick the plastic Starbucks bottle.", + "Pick up the bottle with Starbucks logo on label with the right arm and shake.", + "Pick and shake the the plastic Starbucks bottle with the right arm.", + "Shake the bottle with coffee-colored body after picking it with the right arm.", + "Grab the plastic Starbucks bottle and give it a shake.", + "Grab the plastic Starbucks bottle, shake it properly, then set it down.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Pick up the bottle with Starbucks logo on label and shake it.", + "Use the right arm to grab the plastic Starbucks bottle and shake.", + "Grab the bottle with Starbucks logo on label and shake it.", + "Use the right arm to pick the plastic Starbucks bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode64.json b/shake_bottle/ur5_randomized_500/instructions/episode64.json new file mode 100644 index 0000000000000000000000000000000000000000..dc3705477abb0d6c2c717ee3d9528deec6015236 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode64.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to grab the green bottle with black text label and shake it.", + "Hold and shake the the smooth green and yellow bottle carefully.", + "Use the right arm to lift and shake the handheld plastic bottle.", + "Lift up the green bottle using the right arm, then shake.", + "Lift the green bottle with white label and shake it thoroughly.", + "Use the right arm to lift and shake the green bottle with white label.", + "Lift the bottle with glossy plastic finish and shake it gently.", + "Take the green bottle using the right arm and give it a shake.", + "Grab the handheld plastic bottle using the right arm, then shake.", + "Pick the bottle with glossy plastic finish up using the right arm and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Hold the bottle with glossy plastic finish with the right arm and shake lightly.", + "Shake the cylindrical bottle with rounded cap after lifting it.", + "Utilize the right arm to hold the plastic bottle with colored label and shake it.", + "Shake the green bottle with black text label using the right arm after grabbing.", + "Use the right arm to grab the green bottle and shake properly.", + "Grasp the green bottle with black text label with the right arm and shake it.", + "Grip the cylindrical bottle with rounded cap using the right arm and shake.", + "Shake the plastic bottle with colored label after grabbing it.", + "Lift the bottle with glossy plastic finish with the right arm and give it a shake.", + "Use the right arm to pick and shake the plastic bottle.", + "Grab the plastic bottle and give it a shake.", + "Grab the green bottle with black text label firmly, shake it, and put it down.", + "Using the right arm, shake the bottle with yellow cap and then place it back.", + "With the right arm, pick the green bottle with black text label and shake properly.", + "Pick the smooth green and yellow bottle and perform shaking motion.", + "Use the right arm to lift and shake the cylindrical bottle with rounded cap.", + "Pick up the green bottle with black text label and shake it well.", + "Secure the smooth green and yellow bottle and perform a shake.", + "Shake the the handheld plastic bottle properly after lifting.", + "Pick the cylindrical liquid bottle with yellow top up with the right arm and shake.", + "Grab the plastic bottle with colored label and move it to shake.", + "Grab and shake the medium bottle with green body using the right arm.", + "Hold the bottle with glossy plastic finish and shake it properly.", + "Grab the bottle with yellow cap and shake it steadily.", + "Lift the green bottle with the right arm and shake.", + "Grab the smooth green and yellow bottle with the right arm and shake.", + "Pick the handheld plastic bottle, shake it with the right arm.", + "Shake the cylindrical bottle with rounded cap thoroughly after grabbing it.", + "Catch the cylindrical liquid bottle with yellow top and shake it instantly.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Grab the plastic bottle with colored label carefully and shake.", + "Hold the bottle with yellow cap steady, then shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Use the right arm to hold the cylindrical bottle with rounded cap and shake it.", + "Pick up the medium bottle with green body and shake it.", + "Lift the cylindrical liquid bottle with yellow top with the right arm and shake it.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Shake the handheld plastic bottle after holding it firmly.", + "Secure the smooth green and yellow bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with glossy plastic finish and shake it.", + "Hold and shake the the smooth green and yellow bottle carefully.", + "Use the right arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Lift up the smooth green and yellow bottle using the right arm, then shake.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Use the right arm to lift and shake the smooth green and yellow bottle.", + "Lift the smooth green and yellow bottle and shake it gently.", + "Take the green bottle with black text label using the right arm and give it a shake.", + "Grab the bottle with glossy plastic finish using the right arm, then shake.", + "Pick the medium bottle with green body up using the right arm and shake it.", + "Hold the handheld plastic bottle, shake it briefly.", + "Hold the cylindrical liquid bottle with yellow top with the right arm and shake lightly.", + "Shake the green bottle with white label after lifting it.", + "Utilize the right arm to hold the cylindrical bottle with rounded cap and shake it.", + "Shake the green bottle using the right arm after grabbing.", + "Use the right arm to grab the cylindrical liquid bottle with yellow top and shake properly.", + "Grasp the green bottle with black text label with the right arm and shake it.", + "Grip the plastic bottle using the right arm and shake.", + "Shake the cylindrical bottle with rounded cap after grabbing it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Use the right arm to pick and shake the smooth green and yellow bottle.", + "Grab the cylindrical bottle with rounded cap and give it a shake.", + "Grab the green bottle firmly, shake it, and put it down.", + "Using the right arm, shake the bottle with yellow cap and then place it back.", + "With the right arm, pick the bottle with glossy plastic finish and shake properly.", + "Pick the green bottle with black text label and perform shaking motion.", + "Use the right arm to lift and shake the cylindrical liquid bottle with yellow top.", + "Pick up the green bottle with black text label and shake it well.", + "Secure the medium bottle with green body and perform a shake.", + "Shake the the medium bottle with green body properly after lifting.", + "Pick the plastic bottle with colored label up with the right arm and shake.", + "Grab the bottle with glossy plastic finish and move it to shake.", + "Grab and shake the green bottle with black text label using the right arm.", + "Hold the medium bottle with green body and shake it properly.", + "Grab the medium bottle with green body and shake it steadily.", + "Lift the medium bottle with green body with the right arm and shake.", + "Grab the plastic bottle with the right arm and shake.", + "Pick the green bottle, shake it with the right arm.", + "Shake the bottle with yellow cap thoroughly after grabbing it.", + "Catch the handheld plastic bottle and shake it instantly.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Grab the plastic bottle carefully and shake.", + "Hold the plastic bottle with colored label steady, then shake it.", + "Shake the green bottle with white label firmly after grabbing.", + "Use the right arm to hold the smooth green and yellow bottle and shake it.", + "Pick up the plastic bottle with colored label and shake it.", + "Lift the bottle with yellow cap with the right arm and shake it.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Shake the bottle with glossy plastic finish after holding it firmly." + ], + "unseen": [ + "Use the right arm to pick the medium-sized drink bottle.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized drink bottle.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green base and black prints.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized drink bottle.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green base and black prints.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with green base and black prints.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Use the right arm to pick the medium-sized drink bottle.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode65.json b/shake_bottle/ur5_randomized_500/instructions/episode65.json new file mode 100644 index 0000000000000000000000000000000000000000..d5712ec7d0dfeec8dd2512173b0bd8ea6ef27b33 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode65.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the yellow container with rounded edges and shake it gently.", + "Grab the rectangular bottle with cylindrical neck using the left arm, then shake.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Pick the yellow container with rounded edges, shake it with the left arm.", + "Shake the bottle with green and white labels after holding it firmly.", + "Pick the yellow container with rounded edges up using the left arm and shake it.", + "Lift the yellow bottle with the left arm and shake it.", + "Grasp the bottle with green and white labels with the left arm and shake it.", + "Take the yellow bottle with a green design using the left arm and give it a shake.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Shake the yellow container with rounded edges using the left arm after grabbing.", + "Shake the bottle with green and white labels after grabbing it.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Using the left arm, shake the yellow bottle with a green design and then place it back.", + "Grab the plastic bottle carefully and shake.", + "Pick the smooth bottle with rounded edges and perform shaking motion.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Use the left arm to grab the smooth bottle with rounded edges and shake properly.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Pick up the bottle with green and white labels and shake it well.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Shake the yellow container with rounded edges after lifting it.", + "Shake the yellow bottle with a green design after grabbing it.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Use the left arm to hold the bottle with green label and shake it.", + "Shake the yellow bottle with a green design firmly after grabbing.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the smooth bottle with rounded edges and move it to shake.", + "Hold and shake the the bottle with white cap carefully.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Grab the yellow bottle with a green design firmly, shake it, and put it down.", + "Utilize the left arm to hold the bottle with a smooth plastic body and shake it.", + "Lift the yellow bottle with the left arm and shake.", + "Catch the rectangular bottle with cylindrical neck and shake it instantly.", + "Hold the rectangular bottle with cylindrical neck and shake it properly.", + "Hold the bottle with green and white labels with the left arm and shake lightly.", + "Lift up the yellow bottle using the left arm, then shake.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grip the yellow bottle using the left arm and shake.", + "Grab the bottle with a smooth plastic body with the left arm and shake.", + "With the left arm, pick the bottle with a smooth plastic body and shake properly.", + "Use the left arm to grab the bottle with white cap and shake it.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Pick up the medium rectangular yellow bottle and shake it.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Grab the bottle with green and white labels and shake it steadily.", + "Lift the bottle with white cap and shake it thoroughly.", + "Lift the yellow plastic bottle with white top and shake it gently.", + "Grab the bottle with white cap using the left arm, then shake.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.", + "Shake the yellow plastic bottle with white top after holding it firmly.", + "Pick the yellow container with rounded edges up using the left arm and shake it.", + "Lift the yellow container with rounded edges with the left arm and shake it.", + "Grasp the bottle with green and white labels with the left arm and shake it.", + "Take the smooth bottle with rounded edges using the left arm and give it a shake.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Shake the bottle with green and white labels after grabbing it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Secure the medium rectangular yellow bottle and perform a shake.", + "Using the left arm, shake the smooth bottle with rounded edges and then place it back.", + "Grab the plastic bottle carefully and shake.", + "Pick the rectangular bottle with cylindrical neck and perform shaking motion.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Use the left arm to lift and shake the bottle with green label.", + "Use the left arm to grab the smooth bottle with rounded edges and shake properly.", + "Use the left arm to pick and shake the bottle with green label.", + "Pick up the medium rectangular yellow bottle and shake it well.", + "Shake the yellow bottle thoroughly after grabbing it.", + "Grab the yellow container with rounded edges and give it a shake.", + "Shake the bottle with white cap after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Secure the medium rectangular yellow bottle, shake it, and place it down.", + "Use the left arm to hold the yellow bottle and shake it.", + "Shake the yellow bottle firmly after grabbing.", + "Use the left arm to lift and shake the yellow plastic bottle with white top.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Lift the bottle with a smooth plastic body with the left arm and shake.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Hold the smooth bottle with rounded edges and shake it properly.", + "Hold the yellow container with rounded edges with the left arm and shake lightly.", + "Lift up the smooth bottle with rounded edges using the left arm, then shake.", + "Lift the yellow bottle with a green design with the left arm and give it a shake.", + "Grip the bottle with green and white labels using the left arm and shake.", + "Grab the bottle with white cap with the left arm and shake.", + "With the left arm, pick the yellow bottle with a green design and shake properly.", + "Use the left arm to grab the yellow bottle with a green design and shake it.", + "Hold the yellow bottle, shake it briefly.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Pick the medium rectangular yellow bottle up with the left arm and shake.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly." + ], + "unseen": [ + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode66.json b/shake_bottle/ur5_randomized_500/instructions/episode66.json new file mode 100644 index 0000000000000000000000000000000000000000..278cbbd216868a9d83dbd57917280fc194fe9d4b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode66.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the rectangular bottle with cylindrical neck with the left arm and shake it.", + "Using the left arm, shake the yellow bottle and then place it back.", + "Hold the bottle with green and white labels and shake it properly.", + "Shake the yellow container with rounded edges after grabbing it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Pick the yellow bottle with a green design and perform shaking motion.", + "Catch the yellow bottle with a green design and shake it instantly.", + "Pick the yellow bottle, shake it with the left arm.", + "Take the medium rectangular yellow bottle using the left arm and give it a shake.", + "Grasp the yellow plastic bottle with white top with the left arm and shake it.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Grab the yellow bottle with a green design carefully and shake.", + "Secure the yellow bottle with a green design, shake it, and place it down.", + "Use the left arm to hold the bottle with green label and shake it.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Use the left arm to grab the yellow bottle and shake it.", + "Pick up the plastic bottle and shake it well.", + "Grab the yellow plastic bottle with white top with the left arm and shake.", + "Hold and shake the the yellow plastic bottle with white top carefully.", + "Use the left arm to pick and shake the bottle with green and white labels.", + "Grab the yellow container with rounded edges using the left arm, then shake.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Shake the yellow bottle after holding it firmly.", + "Lift the yellow container with rounded edges and shake it gently.", + "Pick the bottle with white cap up with the left arm and shake.", + "With the left arm, pick the medium rectangular yellow bottle and shake properly.", + "Use the left arm to lift and shake the yellow bottle.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Grab the yellow bottle and shake it steadily.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Shake the yellow container with rounded edges using the left arm after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Shake the the yellow bottle properly after lifting.", + "Grab the bottle with green label and move it to shake.", + "Secure the smooth bottle with rounded edges and perform a shake.", + "Lift the bottle with a smooth plastic body with the left arm and shake.", + "Use the left arm to grab the bottle with a smooth plastic body and shake properly.", + "Grip the smooth bottle with rounded edges using the left arm and shake.", + "Pick up the bottle with green and white labels and shake it.", + "Shake the smooth bottle with rounded edges after lifting it.", + "Utilize the left arm to hold the bottle with green label and shake it.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Grab and shake the plastic bottle using the left arm.", + "Hold the yellow bottle steady, then shake it.", + "Hold the yellow plastic bottle with white top with the left arm and shake lightly.", + "Shake the bottle with white cap firmly after grabbing.", + "Lift the yellow container with rounded edges with the left arm and shake it.", + "Using the left arm, shake the bottle with green and white labels and then place it back.", + "Hold the rectangular bottle with cylindrical neck and shake it properly.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Pick the bottle with green and white labels up using the left arm and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Catch the bottle with green label and shake it instantly.", + "Pick the yellow plastic bottle with white top, shake it with the left arm.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grasp the yellow container with rounded edges with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with green label.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Grab the bottle with green label carefully and shake.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Use the left arm to hold the yellow container with rounded edges and shake it.", + "Lift the bottle with green label with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white cap.", + "Hold the bottle with white cap, shake it briefly.", + "Use the left arm to grab the smooth bottle with rounded edges and shake it.", + "Pick up the yellow bottle and shake it well.", + "Grab the smooth bottle with rounded edges with the left arm and shake.", + "Hold and shake the the bottle with green label carefully.", + "Use the left arm to pick and shake the yellow plastic bottle with white top.", + "Grab the yellow bottle using the left arm, then shake.", + "Lift up the yellow plastic bottle with white top using the left arm, then shake.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Lift the yellow bottle with a green design and shake it gently.", + "Pick the smooth bottle with rounded edges up with the left arm and shake.", + "With the left arm, pick the medium rectangular yellow bottle and shake properly.", + "Use the left arm to lift and shake the bottle with green label.", + "Shake the bottle with a smooth plastic body thoroughly after grabbing it.", + "Grab the rectangular bottle with cylindrical neck and shake it steadily.", + "Shake the bottle with green label after grabbing it.", + "Shake the bottle with white cap using the left arm after grabbing.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Shake the the bottle with a smooth plastic body properly after lifting.", + "Grab the bottle with green label and move it to shake.", + "Secure the bottle with a smooth plastic body and perform a shake.", + "Lift the plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow plastic bottle with white top and shake properly.", + "Grip the rectangular bottle with cylindrical neck using the left arm and shake.", + "Pick up the smooth bottle with rounded edges and shake it.", + "Shake the yellow bottle with a green design after lifting it.", + "Utilize the left arm to hold the bottle with white cap and shake it.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Grab and shake the smooth bottle with rounded edges using the left arm.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "Shake the yellow bottle firmly after grabbing." + ], + "unseen": [ + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Grab the yellow rectangular bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode67.json b/shake_bottle/ur5_randomized_500/instructions/episode67.json new file mode 100644 index 0000000000000000000000000000000000000000..40ad7c452d2416c50310eb60a4a845d63771ec4b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode67.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Lift up the handheld green bottle using the left arm, then shake.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the bottle with ridges near base after grabbing it.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the bottle with narrow top and shake it steadily.", + "Grab the smooth green bottle carefully and shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Hold the medium-sized green bottle and shake it properly.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the green bottle with indented base and shake it gently.", + "Grab the smooth green bottle using the left arm, then shake.", + "Grab the green bottle with indented base and give it a shake.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grab and shake the bottle with white printed label using the left arm.", + "Shake the bottle with narrow top after holding it firmly.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Hold the handheld green bottle steady, then shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Pick up the green bottle with indented base and shake it well.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Shake the the smooth green bottle properly after lifting.", + "Pick the smooth green bottle up with the left arm and shake.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Grab the medium-sized green bottle and move it to shake.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Catch the bottle with white printed label and shake it instantly.", + "Secure the smooth green plastic bottle and perform a shake.", + "Hold and shake the the medium green bottle carefully.", + "Shake the medium green bottle after lifting it.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "With the left arm, pick the medium green bottle and shake properly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the smooth green bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Shake the green bottle with indented base after grabbing it.", + "Pick up the green bottle with indented base and shake it.", + "Shake the handheld green bottle firmly after grabbing.", + "Grab the bottle with ridges near base and shake it steadily.", + "Grab the handheld green bottle carefully and shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Hold the bottle with white printed label and shake it properly.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the bottle with ridges near base and shake it gently.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Grab the smooth green bottle and give it a shake.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab and shake the medium green bottle using the left arm.", + "Shake the bottle with rounded neck after holding it firmly.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Shake the plastic bottle after grabbing it.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Hold the bottle with narrow top steady, then shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Lift the bottle with narrow top with the left arm and shake.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Pick up the plastic bottle and shake it well.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Grip the bottle with white printed label using the left arm and shake.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Grab the plastic bottle and move it to shake.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Catch the smooth green bottle and shake it instantly.", + "Secure the bottle with rounded neck and perform a shake.", + "Hold and shake the the green bottle with indented base carefully.", + "Shake the medium-sized green bottle after lifting it.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the handheld green bottle, shake it briefly.", + "Grasp the smooth green bottle with the left arm and shake it." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode68.json b/shake_bottle/ur5_randomized_500/instructions/episode68.json new file mode 100644 index 0000000000000000000000000000000000000000..194e477f005020eaa73a9c883c6cab7c9eedc667 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode68.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the cylindrical orange and white bottle and shake it.", + "Shake the medium bottle with orange lid after grabbing it.", + "Use the left arm to lift and shake the orange bottle.", + "Pick the bottle with orange cap, shake it with the left arm.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Grab the drinking bottle with yellow label and give it a shake.", + "Utilize the left arm to hold the drinking bottle with yellow label and shake it.", + "Secure the medium bottle with orange lid, shake it, and place it down.", + "Grab the smooth plastic bottle with the left arm and shake.", + "Secure the drinking bottle with yellow label and perform a shake.", + "Hold the orange and white bottle with cap, shake it briefly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Using the left arm, shake the white and orange plastic bottle and then place it back.", + "With the left arm, pick the white and orange plastic bottle and shake properly.", + "Lift the plastic bottle and shake it gently.", + "Grab the drinking bottle with yellow label and move it to shake.", + "Pick the medium bottle with orange lid up with the left arm and shake.", + "Grab the orange and white bottle with cap using the left arm, then shake.", + "Shake the bottle with orange cap after grabbing it.", + "Catch the white and orange plastic bottle and shake it instantly.", + "Shake the smooth plastic bottle after lifting it.", + "Shake the bottle with orange cap thoroughly after grabbing it.", + "Grab the white and orange plastic bottle carefully and shake.", + "Shake the plastic bottle after grabbing it.", + "Pick the yellow label bottle and perform shaking motion.", + "Hold the orange and white bottle with cap steady, then shake it.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to hold the cylindrical orange and white bottle and shake it.", + "Pick up the yellow label bottle and shake it.", + "Pick the white and orange plastic bottle up using the left arm and shake it.", + "Pick up the orange and white bottle with cap and shake it well.", + "Grip the yellow label bottle using the left arm and shake.", + "Use the left arm to grab the bottle with ribbed orange bottom and shake properly.", + "Take the medium orange bottle using the left arm and give it a shake.", + "Shake the the orange and white bottle with cap properly after lifting.", + "Use the left arm to pick and shake the yellow label bottle.", + "Lift the orange bottle with the left arm and shake it.", + "Grab the smooth plastic bottle and shake it steadily.", + "Hold the bottle with orange cap with the left arm and shake lightly.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Hold and shake the the smooth plastic bottle carefully.", + "Lift up the medium orange bottle using the left arm, then shake.", + "Lift the bottle with orange cap with the left arm and shake.", + "Hold the bottle with orange cap and shake it properly.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Shake the bottle with orange cap using the left arm after grabbing.", + "Lift the drinking bottle with yellow label with the left arm and give it a shake.", + "Grasp the yellow label bottle with the left arm and shake it.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Shake the bottle with ribbed orange bottom after holding it firmly.", + "Use the left arm to grab the bottle with ribbed orange bottom and shake it.", + "Shake the white and orange plastic bottle after grabbing it.", + "Use the left arm to lift and shake the white and orange plastic bottle.", + "Pick the orange bottle, shake it with the left arm.", + "Shake the yellow label bottle firmly after grabbing.", + "Grab the medium orange bottle and give it a shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Secure the yellow label bottle, shake it, and place it down.", + "Grab the white and orange plastic bottle with the left arm and shake.", + "Secure the yellow label bottle and perform a shake.", + "Hold the medium orange bottle, shake it briefly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Using the left arm, shake the drinking bottle with yellow label and then place it back.", + "With the left arm, pick the bottle with ribbed orange bottom and shake properly.", + "Lift the plastic bottle and shake it gently.", + "Grab the smooth plastic bottle and move it to shake.", + "Pick the bottle with orange cap up with the left arm and shake.", + "Grab the smooth plastic bottle using the left arm, then shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Catch the drinking bottle with yellow label and shake it instantly.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Shake the orange bottle thoroughly after grabbing it.", + "Grab the medium bottle with orange lid carefully and shake.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Pick the yellow label bottle and perform shaking motion.", + "Hold the bottle with ribbed orange bottom steady, then shake it.", + "Grab and shake the bottle with orange cap using the left arm.", + "Use the left arm to hold the medium orange bottle and shake it.", + "Pick up the smooth plastic bottle and shake it.", + "Pick the yellow label bottle up using the left arm and shake it.", + "Pick up the medium orange bottle and shake it well.", + "Grip the drinking bottle with yellow label using the left arm and shake.", + "Use the left arm to grab the orange bottle and shake properly.", + "Take the orange and white bottle with cap using the left arm and give it a shake.", + "Shake the the medium bottle with orange lid properly after lifting.", + "Use the left arm to pick and shake the medium orange bottle.", + "Lift the yellow label bottle with the left arm and shake it.", + "Grab the plastic bottle and shake it steadily.", + "Hold the cylindrical orange and white bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium bottle with orange lid.", + "Hold and shake the the bottle with ribbed orange bottom carefully.", + "Lift up the drinking bottle with yellow label using the left arm, then shake.", + "Lift the orange bottle with the left arm and shake.", + "Hold the medium orange bottle and shake it properly.", + "Use the left arm to lift and shake the bottle with ribbed orange bottom.", + "Shake the plastic bottle using the left arm after grabbing.", + "Lift the medium orange bottle with the left arm and give it a shake.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Shake the drinking bottle with yellow label after holding it firmly." + ], + "unseen": [ + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with curved body and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Grab the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to pick the bottle with curved body." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode69.json b/shake_bottle/ur5_randomized_500/instructions/episode69.json new file mode 100644 index 0000000000000000000000000000000000000000..dda4464bd1bb6c603715d988dd53000c182f8c8b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode69.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow bottle with the left arm and shake.", + "Lift the bottle with a smooth plastic body with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Grip the yellow bottle using the left arm and shake.", + "Hold the bottle with green and white labels with the left arm and shake lightly.", + "Shake the the yellow bottle with a green design properly after lifting.", + "Shake the yellow plastic bottle with white top thoroughly after grabbing it.", + "Pick the plastic bottle, shake it with the left arm.", + "Pick up the yellow plastic bottle with white top and shake it well.", + "Hold the bottle with a smooth plastic body and shake it properly.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Pick the yellow bottle and perform shaking motion.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift the yellow bottle with a green design and shake it gently.", + "Grab the plastic bottle and give it a shake.", + "With the left arm, pick the yellow bottle with a green design and shake properly.", + "Lift the yellow plastic bottle with white top and shake it thoroughly.", + "Use the left arm to hold the yellow container with rounded edges and shake it.", + "Secure the bottle with green label, shake it, and place it down.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Lift up the bottle with green and white labels using the left arm, then shake.", + "Shake the smooth bottle with rounded edges after holding it firmly.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Grasp the yellow plastic bottle with white top with the left arm and shake it.", + "Use the left arm to pick and shake the bottle with a smooth plastic body.", + "Grab the yellow bottle using the left arm, then shake.", + "Pick the yellow bottle with a green design up using the left arm and shake it.", + "Grab the yellow bottle with a green design carefully and shake.", + "Secure the yellow bottle and perform a shake.", + "Shake the yellow container with rounded edges after lifting it.", + "Hold and shake the the medium rectangular yellow bottle carefully.", + "Utilize the left arm to hold the yellow bottle and shake it.", + "Lift the bottle with green label with the left arm and shake.", + "Grab the bottle with green label and move it to shake.", + "Grab and shake the medium rectangular yellow bottle using the left arm.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the medium rectangular yellow bottle after grabbing it.", + "Shake the yellow bottle with a green design using the left arm after grabbing.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Use the left arm to grab the rectangular bottle with cylindrical neck and shake properly.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Pick up the bottle with white cap and shake it.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Use the left arm to grab the yellow bottle with a green design and shake it.", + "Lift the yellow bottle with the left arm and shake it.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Use the left arm to lift and shake the bottle with green label.", + "Grab the yellow container with rounded edges with the left arm and shake.", + "Lift the yellow bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Hold the yellow bottle, shake it briefly.", + "Grip the bottle with green label using the left arm and shake.", + "Hold the yellow bottle with a green design with the left arm and shake lightly.", + "Shake the the yellow bottle properly after lifting.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Pick the smooth bottle with rounded edges, shake it with the left arm.", + "Pick up the smooth bottle with rounded edges and shake it well.", + "Hold the yellow bottle with a green design and shake it properly.", + "Grab the bottle with green label firmly, shake it, and put it down.", + "Pick the yellow bottle and perform shaking motion.", + "Using the left arm, shake the bottle with a smooth plastic body and then place it back.", + "Lift the yellow bottle with a green design and shake it gently.", + "Grab the yellow bottle with a green design and give it a shake.", + "With the left arm, pick the smooth bottle with rounded edges and shake properly.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Use the left arm to hold the medium rectangular yellow bottle and shake it.", + "Secure the smooth bottle with rounded edges, shake it, and place it down.", + "Pick the bottle with a smooth plastic body up with the left arm and shake.", + "Lift up the yellow bottle using the left arm, then shake.", + "Shake the yellow bottle after holding it firmly.", + "Shake the bottle with green label after grabbing it.", + "Grasp the smooth bottle with rounded edges with the left arm and shake it.", + "Use the left arm to pick and shake the yellow plastic bottle with white top.", + "Grab the yellow plastic bottle with white top using the left arm, then shake.", + "Pick the smooth bottle with rounded edges up using the left arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Secure the bottle with green and white labels and perform a shake.", + "Shake the plastic bottle after lifting it.", + "Hold and shake the the plastic bottle carefully.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Lift the smooth bottle with rounded edges with the left arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Grab and shake the yellow plastic bottle with white top using the left arm.", + "Take the yellow bottle using the left arm and give it a shake.", + "Shake the bottle with green label after grabbing it.", + "Shake the medium rectangular yellow bottle using the left arm after grabbing.", + "Catch the yellow container with rounded edges and shake it instantly.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grab the yellow bottle with a green design and shake it steadily.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Shake the bottle with green label after grabbing it.", + "Pick up the bottle with green label and shake it.", + "Use the left arm to lift and shake the bottle with a smooth plastic body.", + "Use the left arm to grab the yellow bottle with a green design and shake it.", + "Lift the bottle with white cap with the left arm and shake it.", + "Hold the bottle with a smooth plastic body steady, then shake it.", + "Use the left arm to lift and shake the smooth bottle with rounded edges." + ], + "unseen": [ + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the left arm to pick the yellow bottle for liquid storage.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the left arm to pick the yellow rectangular bottle.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode7.json b/shake_bottle/ur5_randomized_500/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..76b0b9783273c9fa546586e76445d34ece45b937 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Grasp the plastic bottle with printed label with the right arm and shake it.", + "Shake the cylindrical bottle with narrow neck firmly after grabbing.", + "Grab the cylindrical bottle with narrow neck and shake it steadily.", + "Grab the plastic bottle for liquids with the right arm and shake.", + "Shake the plastic bottle with printed label after grabbing it.", + "Lift the rounded bottle with printed details with the right arm and give it a shake.", + "Lift the medium bottle with smooth texture and shake it gently.", + "Use the right arm to grab the plastic bottle for liquids and shake it.", + "Pick the bottle with dark brown color, shake it with the right arm.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Hold the medium bottle with smooth texture, shake it briefly.", + "Use the right arm to grab the bottle with dark brown color and shake properly.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Utilize the right arm to hold the bottle with brown body and white top and shake it.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Shake the medium bottle with smooth texture after grabbing it.", + "Secure the handheld brown bottle with white lid, shake it, and place it down.", + "Hold the medium bottle with smooth texture steady, then shake it.", + "Hold the handheld brown bottle with white lid with the right arm and shake lightly.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Grab the rounded bottle with printed details and give it a shake.", + "Shake the the bottle with brown body and white top properly after lifting.", + "Use the right arm to pick and shake the bottle with white cap.", + "Using the right arm, shake the plastic bottle for liquids and then place it back.", + "Pick up the white-capped brown cylindrical bottle and shake it well.", + "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.", + "Secure the medium bottle with smooth texture and perform a shake.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Grab and shake the bottle with brown body and white top using the right arm.", + "Shake the rounded bottle with printed details after lifting it.", + "Pick up the bottle with dark brown color and shake it.", + "Lift the bottle with brown body and white top with the right arm and shake it.", + "Lift up the plastic bottle with printed label using the right arm, then shake.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Grip the white-capped brown cylindrical bottle using the right arm and shake.", + "Pick the medium plastic bottle up with the right arm and shake.", + "Take the plastic bottle with printed label using the right arm and give it a shake.", + "Shake the bottle with white cap thoroughly after grabbing it.", + "Grab the bottle with white cap and move it to shake.", + "Use the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Hold and shake the the rounded bottle with printed details carefully.", + "Grab the plastic bottle for liquids carefully and shake.", + "Lift the medium bottle with smooth texture with the right arm and shake.", + "Use the right arm to lift and shake the bottle with dark brown color.", + "Shake the rounded bottle with printed details using the right arm after grabbing.", + "Pick the cylindrical bottle with narrow neck up using the right arm and shake it.", + "Grab the rounded bottle with printed details using the right arm, then shake.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Use the right arm to lift and shake the bottle with white cap.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Shake the bottle with dark brown color firmly after grabbing.", + "Grab the plastic bottle for liquids and shake it steadily.", + "Grab the medium plastic bottle with the right arm and shake.", + "Shake the cylindrical bottle with narrow neck after grabbing it.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Lift the rounded bottle with printed details and shake it gently.", + "Use the right arm to grab the medium bottle with smooth texture and shake it.", + "Pick the bottle with dark brown color, shake it with the right arm.", + "Shake the handheld brown bottle with white lid after holding it firmly.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Use the right arm to grab the bottle with brown body and white top and shake properly.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Utilize the right arm to hold the smooth brown bottle and shake it.", + "Shake the bottle with dark brown color after grabbing it.", + "Shake the rounded bottle with printed details after grabbing it.", + "Secure the rounded bottle with printed details, shake it, and place it down.", + "Hold the plastic bottle for liquids steady, then shake it.", + "Hold the bottle with brown body and white top with the right arm and shake lightly.", + "With the right arm, pick the bottle with brown body and white top and shake properly.", + "Grab the bottle with brown body and white top and give it a shake.", + "Shake the the handheld brown bottle with white lid properly after lifting.", + "Use the right arm to pick and shake the rounded bottle with printed details.", + "Using the right arm, shake the cylindrical bottle with narrow neck and then place it back.", + "Pick up the medium bottle with smooth texture and shake it well.", + "Grab the rounded bottle with printed details firmly, shake it, and put it down.", + "Secure the plastic bottle for liquids and perform a shake.", + "Catch the cylindrical bottle with narrow neck and shake it instantly.", + "Grab and shake the handheld brown bottle with white lid using the right arm.", + "Shake the bottle with white cap after lifting it.", + "Pick up the bottle with white cap and shake it.", + "Lift the rounded bottle with printed details with the right arm and shake it.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Hold the medium bottle with smooth texture and shake it properly.", + "Grip the bottle with brown body and white top using the right arm and shake.", + "Pick the cylindrical bottle with narrow neck up with the right arm and shake.", + "Take the medium bottle with smooth texture using the right arm and give it a shake.", + "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.", + "Grab the medium plastic bottle and move it to shake.", + "Use the right arm to hold the white-capped brown cylindrical bottle and shake it.", + "Hold and shake the the medium plastic bottle carefully.", + "Grab the plastic bottle with printed label carefully and shake.", + "Lift the cylindrical bottle with narrow neck with the right arm and shake.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Shake the bottle with dark brown color using the right arm after grabbing.", + "Pick the white-capped brown cylindrical bottle up using the right arm and shake it.", + "Grab the white-capped brown cylindrical bottle using the right arm, then shake.", + "Pick the medium plastic bottle and perform shaking motion.", + "Use the right arm to lift and shake the medium plastic bottle." + ], + "unseen": [ + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown cylindrical bottle with label with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode70.json b/shake_bottle/ur5_randomized_500/instructions/episode70.json new file mode 100644 index 0000000000000000000000000000000000000000..7379fcbbc35d544b5db2ea1ee15bf0125288e34c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode70.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the right arm to hold the yellow bottle for liquid storage and shake it.", + "Lift the plastic bottle with the right arm and shake it.", + "Hold and shake the the yellow bottle with blue label carefully.", + "Hold the plastic bottle with curved sides steady, then shake it.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Pick the medium-sized bottle, shake it with the right arm.", + "Grasp the handheld curvy bottle with the right arm and shake it.", + "Lift up the yellow bottle for liquid storage using the right arm, then shake.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Lift the smooth plastic bottle with the right arm and shake.", + "Grab and shake the medium-sized bottle using the right arm.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "Grip the yellow bottle for liquid storage using the right arm and shake.", + "Use the right arm to grab the plastic bottle with curved sides and shake it.", + "Shake the the yellow bottle for liquid storage properly after lifting.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to hold the medium plastic bottle with cap and shake it.", + "Shake the yellow bottle after grabbing it.", + "Use the right arm to pick and shake the yellow bottle for liquid storage.", + "Pick up the yellow bottle with dark label and shake it.", + "Catch the yellow bottle with dark label and shake it instantly.", + "Using the right arm, shake the bottle with screw cap and then place it back.", + "Grab the medium-sized bottle with the right arm and shake.", + "Take the bottle for liquid using the right arm and give it a shake.", + "Hold the medium-sized bottle with the right arm and shake lightly.", + "Shake the bottle for liquid after lifting it.", + "Grab the medium-sized bottle using the right arm, then shake.", + "Pick up the medium plastic bottle with cap and shake it well.", + "Grab the yellow bottle for liquid storage carefully and shake.", + "Secure the yellow bottle for liquid storage and perform a shake.", + "Use the right arm to lift and shake the bottle with screw cap.", + "Lift the handheld curvy bottle with the right arm and give it a shake.", + "Shake the medium plastic bottle with cap firmly after grabbing.", + "Grab the yellow bottle and move it to shake.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Hold the bottle for liquid and shake it properly.", + "Grab the yellow bottle and give it a shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the yellow bottle with dark label thoroughly after grabbing it.", + "Pick the medium plastic bottle with cap up using the right arm and shake it.", + "Shake the yellow bottle with blue label after grabbing it.", + "With the right arm, pick the yellow bottle and shake properly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the medium plastic bottle with cap and perform shaking motion.", + "Pick the bottle for liquid up with the right arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift the bottle with screw cap and shake it gently.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Hold the yellow bottle for liquid storage, shake it briefly.", + "Utilize the right arm to hold the medium plastic bottle with cap and shake it.", + "Lift the yellow bottle with dark label with the right arm and shake it.", + "Hold and shake the the yellow bottle with blue label carefully.", + "Hold the plastic bottle steady, then shake it.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Pick the handheld curvy bottle, shake it with the right arm.", + "Grasp the yellow bottle for liquid storage with the right arm and shake it.", + "Lift up the yellow bottle with blue label using the right arm, then shake.", + "Lift the bottle for liquid and shake it thoroughly.", + "Lift the bottle with screw cap with the right arm and shake.", + "Grab and shake the yellow bottle with blue label using the right arm.", + "Use the right arm to grab the handheld curvy bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Grip the medium plastic bottle with cap using the right arm and shake.", + "Use the right arm to grab the bottle with screw cap and shake it.", + "Shake the the smooth plastic bottle properly after lifting.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Shake the handheld curvy bottle after grabbing it.", + "Use the right arm to pick and shake the plastic bottle with curved sides.", + "Pick up the plastic bottle and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Using the right arm, shake the plastic bottle with curved sides and then place it back.", + "Grab the yellow bottle for liquid storage with the right arm and shake.", + "Take the yellow bottle with dark label using the right arm and give it a shake.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the bottle with screw cap after lifting it.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Pick up the yellow bottle for liquid storage and shake it well.", + "Grab the smooth plastic bottle carefully and shake.", + "Secure the handheld curvy bottle and perform a shake.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Lift the yellow bottle for liquid storage with the right arm and give it a shake.", + "Shake the medium-sized bottle firmly after grabbing.", + "Grab the medium plastic bottle with cap and move it to shake.", + "Secure the handheld curvy bottle, shake it, and place it down.", + "Hold the yellow bottle for liquid storage and shake it properly.", + "Grab the medium-sized bottle and give it a shake.", + "Shake the bottle with screw cap using the right arm after grabbing.", + "Shake the yellow bottle with dark label thoroughly after grabbing it.", + "Pick the smooth plastic bottle up using the right arm and shake it.", + "Shake the yellow bottle for liquid storage after grabbing it.", + "With the right arm, pick the yellow bottle with blue label and shake properly.", + "Grab the yellow bottle with dark label firmly, shake it, and put it down.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Pick the yellow bottle with dark label up with the right arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift the bottle with screw cap and shake it gently.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the yellow bottle with blue label, shake it briefly." + ], + "unseen": [ + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to pick the smooth bottle with blue text.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Pick up the smooth bottle with blue text and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to pick the yellow bottle with white cap.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Pick up the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to pick the smooth bottle with blue text." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode71.json b/shake_bottle/ur5_randomized_500/instructions/episode71.json new file mode 100644 index 0000000000000000000000000000000000000000..12c564511559462318572ab6d971c8cafa0a5262 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode71.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the orange bottle, shake it briefly.", + "Grab the orange and white bottle with cap and shake it steadily.", + "Lift the medium orange bottle with the right arm and shake.", + "Take the plastic bottle using the right arm and give it a shake.", + "Hold the drinking bottle with yellow label with the right arm and shake lightly.", + "Hold the drinking bottle with yellow label and shake it properly.", + "Lift up the bottle with orange cap using the right arm, then shake.", + "Pick the bottle with orange cap up with the right arm and shake.", + "Grasp the yellow label bottle with the right arm and shake it.", + "Grab the smooth plastic bottle and give it a shake.", + "Utilize the right arm to hold the cylindrical orange and white bottle and shake it.", + "Pick the medium bottle with orange lid and perform shaking motion.", + "Use the right arm to grab the cylindrical orange and white bottle and shake properly.", + "Hold and shake the the drinking bottle with yellow label carefully.", + "Pick the orange and white bottle with cap up using the right arm and shake it.", + "Shake the bottle with orange cap after grabbing it.", + "Catch the bottle with orange cap and shake it instantly.", + "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.", + "Lift the bottle with orange cap and shake it gently.", + "Secure the medium orange bottle, shake it, and place it down.", + "Shake the yellow label bottle after grabbing it.", + "Pick the white and orange plastic bottle, shake it with the right arm.", + "Shake the medium orange bottle after lifting it.", + "Grab and shake the bottle with ribbed orange bottom using the right arm.", + "Use the right arm to grab the bottle with orange cap and shake it.", + "Grab the drinking bottle with yellow label using the right arm, then shake.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Grip the orange and white bottle with cap using the right arm and shake.", + "Shake the orange and white bottle with cap thoroughly after grabbing it.", + "Shake the drinking bottle with yellow label after holding it firmly.", + "Use the right arm to hold the drinking bottle with yellow label and shake it.", + "Use the right arm to lift and shake the orange and white bottle with cap.", + "Shake the yellow label bottle using the right arm after grabbing.", + "Secure the medium orange bottle and perform a shake.", + "Pick up the bottle with orange cap and shake it well.", + "Grab the medium bottle with orange lid firmly, shake it, and put it down.", + "With the right arm, pick the smooth plastic bottle and shake properly.", + "Using the right arm, shake the cylindrical orange and white bottle and then place it back.", + "Lift the medium bottle with orange lid with the right arm and shake it.", + "Grab the plastic bottle and move it to shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Shake the plastic bottle firmly after grabbing.", + "Hold the orange bottle steady, then shake it.", + "Pick up the cylindrical orange and white bottle and shake it.", + "Use the right arm to lift and shake the medium bottle with orange lid.", + "Grab the orange and white bottle with cap with the right arm and shake.", + "Lift the bottle with ribbed orange bottom and shake it thoroughly.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Grab the medium bottle with orange lid carefully and shake.", + "Shake the the orange bottle properly after lifting.", + "Hold the plastic bottle, shake it briefly.", + "Grab the yellow label bottle and shake it steadily.", + "Lift the white and orange plastic bottle with the right arm and shake.", + "Take the bottle with ribbed orange bottom using the right arm and give it a shake.", + "Hold the medium bottle with orange lid with the right arm and shake lightly.", + "Hold the yellow label bottle and shake it properly.", + "Lift up the drinking bottle with yellow label using the right arm, then shake.", + "Pick the drinking bottle with yellow label up with the right arm and shake.", + "Grasp the orange bottle with the right arm and shake it.", + "Grab the medium orange bottle and give it a shake.", + "Utilize the right arm to hold the drinking bottle with yellow label and shake it.", + "Pick the medium orange bottle and perform shaking motion.", + "Use the right arm to grab the yellow label bottle and shake properly.", + "Hold and shake the the drinking bottle with yellow label carefully.", + "Pick the orange bottle up using the right arm and shake it.", + "Shake the yellow label bottle after grabbing it.", + "Catch the bottle with orange cap and shake it instantly.", + "Lift the medium bottle with orange lid with the right arm and give it a shake.", + "Lift the drinking bottle with yellow label and shake it gently.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the medium orange bottle after grabbing it.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Grab and shake the white and orange plastic bottle using the right arm.", + "Use the right arm to grab the medium orange bottle and shake it.", + "Grab the orange and white bottle with cap using the right arm, then shake.", + "Use the right arm to pick and shake the orange bottle.", + "Grip the cylindrical orange and white bottle using the right arm and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the bottle with orange cap after holding it firmly.", + "Use the right arm to hold the bottle with orange cap and shake it.", + "Use the right arm to lift and shake the cylindrical orange and white bottle.", + "Shake the smooth plastic bottle using the right arm after grabbing.", + "Secure the bottle with orange cap and perform a shake.", + "Pick up the yellow label bottle and shake it well.", + "Grab the medium orange bottle firmly, shake it, and put it down.", + "With the right arm, pick the orange bottle and shake properly.", + "Using the right arm, shake the orange bottle and then place it back.", + "Lift the plastic bottle with the right arm and shake it.", + "Grab the orange bottle and move it to shake.", + "Use the right arm to lift and shake the orange and white bottle with cap.", + "Shake the orange bottle firmly after grabbing.", + "Hold the plastic bottle steady, then shake it.", + "Pick up the bottle with ribbed orange bottom and shake it.", + "Use the right arm to lift and shake the bottle with ribbed orange bottom.", + "Grab the medium orange bottle with the right arm and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Grab the smooth plastic bottle carefully and shake.", + "Shake the the yellow label bottle properly after lifting." + ], + "unseen": [ + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick and shake the the bottle with curved body with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the bottle with curved body with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with curved body and give it a shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Use the right arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to grab the bottle with curved body and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and shake it.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick and shake the the bottle with curved body with the right arm.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick up the curvy orange bottle with white section with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode72.json b/shake_bottle/ur5_randomized_500/instructions/episode72.json new file mode 100644 index 0000000000000000000000000000000000000000..decd1e8c35bbb20b302d7dfc1cad876a372786d0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode72.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Pick up the bottle with green label and shake it well.", + "Pick the plastic bottle up using the left arm and shake it.", + "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Pick the plastic bottle up with the left arm and shake.", + "Grab the yellow bottle and move it to shake.", + "Shake the rectangular bottle with cylindrical neck after holding it firmly.", + "Pick the plastic bottle, shake it with the left arm.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Use the left arm to lift and shake the yellow bottle with a green design.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold and shake the the smooth bottle with rounded edges carefully.", + "Use the left arm to grab the bottle with green and white labels and shake properly.", + "Shake the the yellow bottle properly after lifting.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the smooth bottle with rounded edges after grabbing it.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Grab the rectangular bottle with cylindrical neck carefully and shake.", + "Shake the smooth bottle with rounded edges thoroughly after grabbing it.", + "Grab and shake the yellow bottle with a green design using the left arm.", + "Use the left arm to grab the yellow bottle and shake it.", + "Secure the rectangular bottle with cylindrical neck and perform a shake.", + "Grab the smooth bottle with rounded edges with the left arm and shake.", + "Use the left arm to lift and shake the yellow bottle.", + "Hold the yellow bottle with a green design steady, then shake it.", + "Lift the bottle with a smooth plastic body with the left arm and shake.", + "Shake the medium rectangular yellow bottle using the left arm after grabbing.", + "Using the left arm, shake the yellow bottle with a green design and then place it back.", + "Hold the yellow container with rounded edges with the left arm and shake lightly.", + "With the left arm, pick the bottle with green and white labels and shake properly.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Grab the yellow bottle with a green design and give it a shake.", + "Use the left arm to hold the yellow bottle and shake it.", + "Catch the bottle with white cap and shake it instantly.", + "Grasp the yellow bottle with the left arm and shake it.", + "Lift the bottle with white cap and shake it thoroughly.", + "Shake the yellow plastic bottle with white top firmly after grabbing.", + "Lift up the plastic bottle using the left arm, then shake.", + "Pick up the plastic bottle and shake it.", + "Grab the bottle with a smooth plastic body using the left arm, then shake.", + "Grip the smooth bottle with rounded edges using the left arm and shake.", + "Use the left arm to pick and shake the bottle with green label.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Lift the yellow container with rounded edges and shake it gently.", + "Take the yellow container with rounded edges using the left arm and give it a shake.", + "Grab the bottle with white cap and shake it steadily.", + "Pick the bottle with green label and perform shaking motion.", + "Shake the yellow container with rounded edges after lifting it.", + "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.", + "Pick up the plastic bottle and shake it well.", + "Pick the smooth bottle with rounded edges up using the left arm and shake it.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the yellow bottle with a green design after grabbing it.", + "Shake the yellow bottle after grabbing it.", + "Pick the bottle with green and white labels up with the left arm and shake.", + "Grab the rectangular bottle with cylindrical neck and move it to shake.", + "Shake the plastic bottle after holding it firmly.", + "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.", + "Grab the bottle with green and white labels firmly, shake it, and put it down.", + "Use the left arm to lift and shake the yellow bottle.", + "Secure the bottle with green and white labels, shake it, and place it down.", + "Hold and shake the the yellow container with rounded edges carefully.", + "Use the left arm to grab the bottle with white cap and shake properly.", + "Shake the the plastic bottle properly after lifting.", + "Lift the bottle with a smooth plastic body with the left arm and give it a shake.", + "Shake the yellow bottle with a green design after grabbing it.", + "Lift the yellow bottle with a green design with the left arm and shake it.", + "Grab the smooth bottle with rounded edges carefully and shake.", + "Shake the medium rectangular yellow bottle thoroughly after grabbing it.", + "Grab and shake the bottle with a smooth plastic body using the left arm.", + "Use the left arm to grab the yellow bottle and shake it.", + "Secure the plastic bottle and perform a shake.", + "Grab the bottle with a smooth plastic body with the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with rounded edges.", + "Hold the plastic bottle steady, then shake it.", + "Lift the bottle with green and white labels with the left arm and shake.", + "Shake the medium rectangular yellow bottle using the left arm after grabbing.", + "Using the left arm, shake the bottle with white cap and then place it back.", + "Hold the medium rectangular yellow bottle with the left arm and shake lightly.", + "With the left arm, pick the yellow bottle and shake properly.", + "Hold the yellow container with rounded edges, shake it briefly.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to hold the yellow container with rounded edges and shake it.", + "Catch the medium rectangular yellow bottle and shake it instantly.", + "Grasp the medium rectangular yellow bottle with the left arm and shake it.", + "Lift the bottle with green and white labels and shake it thoroughly.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Lift up the bottle with green label using the left arm, then shake.", + "Pick up the medium rectangular yellow bottle and shake it.", + "Grab the yellow bottle using the left arm, then shake.", + "Grip the bottle with green label using the left arm and shake.", + "Use the left arm to pick and shake the rectangular bottle with cylindrical neck.", + "Hold the medium rectangular yellow bottle and shake it properly.", + "Lift the bottle with a smooth plastic body and shake it gently.", + "Take the bottle with white cap using the left arm and give it a shake.", + "Grab the medium rectangular yellow bottle and shake it steadily.", + "Pick the yellow bottle and perform shaking motion.", + "Shake the bottle with white cap after lifting it." + ], + "unseen": [ + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the hand-sized yellow plastic bottle with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow rectangular bottle and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow rectangular bottle with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow rectangular bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the hand-sized yellow plastic bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow rectangular bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow rectangular bottle and shake it.", + "Use the left arm to grab the yellow bottle for liquid storage and shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the hand-sized yellow plastic bottle after picking it with the left arm.", + "Pick and shake the the yellow bottle for liquid storage with the left arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it.", + "Use the left arm to grab the hand-sized yellow plastic bottle and shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the yellow rectangular bottle.", + "Pick up the yellow bottle for liquid storage with the left arm and shake.", + "Shake the yellow bottle for liquid storage after picking it with the left arm.", + "Pick and shake the the hand-sized yellow plastic bottle with the left arm.", + "Pick up the yellow bottle for liquid storage and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode73.json b/shake_bottle/ur5_randomized_500/instructions/episode73.json new file mode 100644 index 0000000000000000000000000000000000000000..bf809e88b9022dfd177a761b4cdb691cbb90f4f5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode73.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth green plastic bottle, shake it with the right arm.", + "Shake the medium green bottle after grabbing it.", + "Grab and shake the bottle with narrow top using the right arm.", + "Hold the medium-sized green bottle steady, then shake it.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Take the medium green bottle using the right arm and give it a shake.", + "Lift the bottle with white printed label and shake it gently.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Grab the plastic bottle with the right arm and shake.", + "Grab the bottle with rounded neck and give it a shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Catch the medium-sized green bottle and shake it instantly.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Shake the bottle with rounded neck after grabbing it.", + "Grasp the smooth green bottle with the right arm and shake it.", + "Grab the medium-sized green bottle carefully and shake.", + "Shake the handheld green bottle after lifting it.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Hold and shake the the bottle with ridges near base carefully.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Pick up the handheld green bottle and shake it.", + "Lift the medium green bottle with the right arm and shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Pick up the bottle with white printed label and shake it well.", + "Use the right arm to pick and shake the smooth green bottle.", + "Shake the medium-sized green bottle after holding it firmly.", + "Grab the bottle with rounded neck and move it to shake.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Hold the medium green bottle and shake it properly.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grip the plastic bottle using the right arm and shake.", + "Pick the smooth green bottle and perform shaking motion.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Hold the smooth green bottle, shake it briefly.", + "Grab the green bottle with indented base and shake it steadily.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Shake the bottle with narrow top after grabbing it.", + "Grab and shake the smooth green bottle using the right arm.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Lift the bottle with ridges near base and shake it gently.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Grab the bottle with narrow top with the right arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Secure the handheld green bottle, shake it, and place it down.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Grab the medium-sized green bottle carefully and shake.", + "Shake the plastic bottle after lifting it.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Hold and shake the the green bottle with indented base carefully.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium green bottle.", + "Pick up the handheld green bottle and shake it.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Pick up the plastic bottle and shake it well.", + "Use the right arm to pick and shake the handheld green bottle.", + "Shake the medium green bottle after holding it firmly.", + "Grab the smooth green plastic bottle and move it to shake.", + "Pick the handheld green bottle up with the right arm and shake.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Hold the smooth green bottle and shake it properly.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grip the green bottle with indented base using the right arm and shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Secure the bottle with white printed label and perform a shake.", + "Shake the medium green bottle using the right arm after grabbing.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Hold the medium green bottle, shake it briefly.", + "Grab the medium-sized green bottle and shake it steadily.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Pick the handheld green bottle up using the right arm and shake it." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode74.json b/shake_bottle/ur5_randomized_500/instructions/episode74.json new file mode 100644 index 0000000000000000000000000000000000000000..5b916e0b9f681ca075498c7010cbfe3c70e97fe6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode74.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the black cylindrical bottle with ridges with the left arm and shake it.", + "Pick the black cylindrical bottle with ridges up using the left arm and shake it.", + "Lift the plastic bottle with colorful label with the left arm and shake.", + "Shake the beverage bottle with black body using the left arm after grabbing.", + "Secure the yellow capped drink bottle and perform a shake.", + "Lift up the beverage bottle with black body using the left arm, then shake.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Utilize the left arm to hold the drink bottle with rounded yellow lid and shake it.", + "Hold and shake the the yellow capped drink bottle carefully.", + "Grip the medium black bottle with printed label using the left arm and shake.", + "Lift the smooth black bottle with ridges with the left arm and give it a shake.", + "Hold the black cylindrical bottle with ridges steady, then shake it.", + "Hold the black bottle, shake it briefly.", + "Pick the medium black bottle with printed label, shake it with the left arm.", + "Lift the beverage bottle with black body and shake it thoroughly.", + "Hold the yellow-capped cylindrical bottle and shake it properly.", + "Hold the medium black bottle with printed label with the left arm and shake lightly.", + "Pick up the bottle with blue and yellow print and shake it.", + "Shake the medium black bottle with printed label firmly after grabbing.", + "Pick up the black cylindrical bottle with ridges and shake it well.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Pick the medium bottle with yellow cap up with the left arm and shake.", + "Lift the yellow capped drink bottle and shake it gently.", + "Grab the black plastic bottle with Pepsi logo and give it a shake.", + "Use the left arm to grab the black cylindrical bottle with ridges and shake properly.", + "Take the yellow capped drink bottle using the left arm and give it a shake.", + "Shake the medium bottle with yellow cap thoroughly after grabbing it.", + "With the left arm, pick the yellow capped drink bottle and shake properly.", + "Shake the black bottle after grabbing it.", + "Using the left arm, shake the yellow-capped cylindrical bottle and then place it back.", + "Use the left arm to lift and shake the beverage bottle with black body.", + "Use the left arm to grab the drink bottle with rounded yellow lid and shake it.", + "Grab the black bottle and move it to shake.", + "Catch the yellow-capped cylindrical bottle and shake it instantly.", + "Use the left arm to pick and shake the medium bottle with yellow cap.", + "Grasp the medium black bottle with printed label with the left arm and shake it.", + "Shake the beverage bottle with black body after grabbing it.", + "Grab the smooth black bottle with ridges using the left arm, then shake.", + "Shake the yellow-capped cylindrical bottle after holding it firmly.", + "Grab the plastic bottle with colorful label with the left arm and shake.", + "Secure the medium black bottle with printed label, shake it, and place it down.", + "Grab the yellow-capped cylindrical bottle carefully and shake.", + "Grab the black plastic bottle with Pepsi logo and shake it steadily.", + "Grab and shake the medium bottle with yellow cap using the left arm.", + "Grab the drink bottle with rounded yellow lid firmly, shake it, and put it down.", + "Use the left arm to hold the black bottle and shake it.", + "Shake the the black cylindrical bottle with ridges properly after lifting.", + "Shake the smooth black bottle with ridges after grabbing it.", + "Pick the yellow capped drink bottle and perform shaking motion.", + "Shake the yellow-capped cylindrical bottle after lifting it.", + "Lift the plastic bottle with colorful label with the left arm and shake it.", + "Pick the drink bottle with rounded yellow lid up using the left arm and shake it.", + "Lift the black cylindrical bottle with ridges with the left arm and shake.", + "Shake the beverage bottle with black body using the left arm after grabbing.", + "Secure the black bottle and perform a shake.", + "Lift up the drink bottle with rounded yellow lid using the left arm, then shake.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Utilize the left arm to hold the bottle with blue and yellow print and shake it.", + "Hold and shake the the black plastic bottle with Pepsi logo carefully.", + "Grip the black bottle using the left arm and shake.", + "Lift the yellow capped drink bottle with the left arm and give it a shake.", + "Hold the black bottle steady, then shake it.", + "Hold the yellow capped drink bottle, shake it briefly.", + "Pick the black bottle, shake it with the left arm.", + "Lift the black plastic bottle with Pepsi logo and shake it thoroughly.", + "Hold the bottle with blue and yellow print and shake it properly.", + "Hold the smooth black bottle with ridges with the left arm and shake lightly.", + "Pick up the black cylindrical bottle with ridges and shake it.", + "Shake the beverage bottle with black body firmly after grabbing.", + "Pick up the medium black bottle with printed label and shake it well.", + "Use the left arm to lift and shake the black bottle.", + "Pick the plastic bottle with colorful label up with the left arm and shake.", + "Lift the beverage bottle with black body and shake it gently.", + "Grab the black plastic bottle with Pepsi logo and give it a shake.", + "Use the left arm to grab the bottle with blue and yellow print and shake properly.", + "Take the smooth black bottle with ridges using the left arm and give it a shake.", + "Shake the plastic bottle with colorful label thoroughly after grabbing it.", + "With the left arm, pick the black cylindrical bottle with ridges and shake properly.", + "Shake the medium black bottle with printed label after grabbing it.", + "Using the left arm, shake the drink bottle with rounded yellow lid and then place it back.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Use the left arm to grab the black plastic bottle with Pepsi logo and shake it.", + "Grab the drink bottle with rounded yellow lid and move it to shake.", + "Catch the black plastic bottle with Pepsi logo and shake it instantly.", + "Use the left arm to pick and shake the smooth black bottle with ridges.", + "Grasp the medium black bottle with printed label with the left arm and shake it.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Grab the medium bottle with yellow cap using the left arm, then shake.", + "Shake the medium bottle with yellow cap after holding it firmly.", + "Grab the black bottle with the left arm and shake.", + "Secure the smooth black bottle with ridges, shake it, and place it down.", + "Grab the beverage bottle with black body carefully and shake.", + "Grab the black plastic bottle with Pepsi logo and shake it steadily.", + "Grab and shake the smooth black bottle with ridges using the left arm.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Use the left arm to hold the black cylindrical bottle with ridges and shake it.", + "Shake the the black bottle properly after lifting.", + "Shake the drink bottle with rounded yellow lid after grabbing it.", + "Pick the drink bottle with rounded yellow lid and perform shaking motion.", + "Shake the medium bottle with yellow cap after lifting it." + ], + "unseen": [ + "Grab the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Grab the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Grab the plastic bottle with blue label and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Grab the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Use the left arm to pick the bottle with ridges near base." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode75.json b/shake_bottle/ur5_randomized_500/instructions/episode75.json new file mode 100644 index 0000000000000000000000000000000000000000..30fedf8f30e8bd66270244f1ec439ced5d681a38 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode75.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle with sealed yellow cap up with the left arm and shake.", + "Hold the bottle with yellow cap, shake it briefly.", + "Grab the plastic bottle with sealed yellow cap with the left arm and shake.", + "Grasp the bottle with yellow cap with the left arm and shake it.", + "Lift the bottle with printed label with the left arm and give it a shake.", + "Take the bottle for liquids using the left arm and give it a shake.", + "Hold the yellow-capped plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Catch the smooth plastic bottle and shake it instantly.", + "Use the left arm to pick and shake the bottle with printed label.", + "Pick the plastic bottle up using the left arm and shake it.", + "Lift the bottle for liquids with the left arm and shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Grab the plastic bottle with sealed yellow cap and shake it steadily.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to lift and shake the medium-sized orange bottle.", + "Grab and shake the yellow-capped plastic bottle using the left arm.", + "Grab the smooth plastic bottle and give it a shake.", + "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.", + "Grip the bottle with yellow cap using the left arm and shake.", + "Shake the smooth plastic bottle after holding it firmly.", + "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Secure the bottle with narrow neck, shake it, and place it down.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Use the left arm to grab the smooth plastic bottle and shake it.", + "Pick the cylindrical orange bottle with yellow top, shake it with the left arm.", + "Use the left arm to lift and shake the orange bottle.", + "Hold and shake the the plastic bottle carefully.", + "Shake the bottle with printed label after lifting it.", + "Shake the plastic bottle with sealed yellow cap firmly after grabbing.", + "Grab the bottle with printed label carefully and shake.", + "Hold the bottle for liquids and shake it properly.", + "Grab the bottle with yellow cap firmly, shake it, and put it down.", + "Pick the bottle with yellow cap and perform shaking motion.", + "With the left arm, pick the bottle with yellow cap and shake properly.", + "Pick up the plastic bottle and shake it.", + "Using the left arm, shake the bottle with yellow cap and then place it back.", + "Lift the orange cylindrical bottle and shake it gently.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Secure the plastic bottle with sealed yellow cap and perform a shake.", + "Shake the the bottle with yellow cap properly after lifting.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Lift the bottle with yellow cap and shake it thoroughly.", + "Shake the yellow-capped plastic bottle using the left arm after grabbing.", + "Pick up the bottle for liquids and shake it well.", + "Use the left arm to hold the cylindrical orange bottle with yellow top and shake it.", + "Lift up the plastic bottle using the left arm, then shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Pick the orange cylindrical bottle up with the left arm and shake.", + "Hold the medium-sized orange bottle, shake it briefly.", + "Grab the cylindrical orange bottle with yellow top with the left arm and shake.", + "Grasp the plastic bottle with sealed yellow cap with the left arm and shake it.", + "Lift the plastic bottle with sealed yellow cap with the left arm and give it a shake.", + "Take the bottle with printed label using the left arm and give it a shake.", + "Hold the bottle with printed label with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Catch the smooth plastic bottle and shake it instantly.", + "Use the left arm to pick and shake the orange cylindrical bottle.", + "Pick the bottle with printed label up using the left arm and shake it.", + "Lift the orange bottle with the left arm and shake.", + "Grab the yellow-capped plastic bottle using the left arm, then shake.", + "Grab the bottle with narrow neck and shake it steadily.", + "Utilize the left arm to hold the bottle with yellow cap and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab and shake the plastic bottle using the left arm.", + "Grab the bottle with yellow cap and give it a shake.", + "Shake the medium-sized orange bottle thoroughly after grabbing it.", + "Grip the orange cylindrical bottle using the left arm and shake.", + "Shake the cylindrical orange bottle with yellow top after holding it firmly.", + "Use the left arm to grab the orange cylindrical bottle and shake properly.", + "Shake the bottle with narrow neck after grabbing it.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Secure the bottle with narrow neck, shake it, and place it down.", + "Shake the orange bottle after grabbing it.", + "Use the left arm to grab the medium-sized orange bottle and shake it.", + "Pick the bottle for liquids, shake it with the left arm.", + "Use the left arm to lift and shake the bottle with narrow neck.", + "Hold and shake the the smooth plastic bottle carefully.", + "Shake the orange cylindrical bottle after lifting it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Grab the plastic bottle carefully and shake.", + "Hold the bottle with yellow cap and shake it properly.", + "Grab the smooth plastic bottle firmly, shake it, and put it down.", + "Pick the bottle with printed label and perform shaking motion.", + "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.", + "Pick up the plastic bottle and shake it.", + "Using the left arm, shake the orange bottle and then place it back.", + "Lift the plastic bottle and shake it gently.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Secure the cylindrical orange bottle with yellow top and perform a shake.", + "Shake the the bottle for liquids properly after lifting.", + "Hold the yellow-capped plastic bottle steady, then shake it.", + "Lift the bottle with narrow neck and shake it thoroughly.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Pick up the cylindrical orange bottle with yellow top and shake it well.", + "Use the left arm to hold the plastic bottle with sealed yellow cap and shake it.", + "Lift up the cylindrical orange bottle with yellow top using the left arm, then shake.", + "Lift the bottle with printed label with the left arm and shake it." + ], + "unseen": [ + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the handheld orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Grab the label-covered orange bottle and shake it.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Grab the orange bottle with smooth texture and shake it.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode76.json b/shake_bottle/ur5_randomized_500/instructions/episode76.json new file mode 100644 index 0000000000000000000000000000000000000000..1ff0e1981156c11591269f2961f098797e438fd0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode76.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the orange bottle firmly after grabbing.", + "Shake the bottle with printed label after grabbing it.", + "Grip the orange cylindrical bottle using the left arm and shake.", + "Grab and shake the bottle with yellow cap using the left arm.", + "Shake the bottle with yellow cap after lifting it.", + "Grasp the cylindrical orange bottle with yellow top with the left arm and shake it.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Hold the bottle with yellow cap, shake it briefly.", + "With the left arm, pick the bottle with printed label and shake properly.", + "Shake the plastic bottle with sealed yellow cap after holding it firmly.", + "Use the left arm to lift and shake the smooth plastic bottle.", + "Catch the bottle with narrow neck and shake it instantly.", + "Pick the bottle with printed label up with the left arm and shake.", + "Use the left arm to grab the bottle with narrow neck and shake properly.", + "Pick the plastic bottle, shake it with the left arm.", + "Lift up the bottle with narrow neck using the left arm, then shake.", + "Grab the orange cylindrical bottle with the left arm and shake.", + "Pick up the bottle for liquids and shake it well.", + "Take the yellow-capped plastic bottle using the left arm and give it a shake.", + "Lift the medium-sized orange bottle and shake it thoroughly.", + "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.", + "Hold the yellow-capped plastic bottle and shake it properly.", + "Grab the bottle with yellow cap and shake it steadily.", + "Secure the bottle with narrow neck, shake it, and place it down.", + "Grab the yellow-capped plastic bottle and move it to shake.", + "Hold the bottle with narrow neck steady, then shake it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the orange cylindrical bottle and give it a shake.", + "Shake the the smooth plastic bottle properly after lifting.", + "Pick up the orange bottle and shake it.", + "Lift the orange cylindrical bottle and shake it gently.", + "Use the left arm to lift and shake the orange bottle.", + "Grab the plastic bottle with sealed yellow cap carefully and shake.", + "Use the left arm to pick and shake the plastic bottle with sealed yellow cap.", + "Shake the bottle with yellow cap after grabbing it.", + "Grab the plastic bottle with sealed yellow cap using the left arm, then shake.", + "Shake the bottle with printed label after grabbing it.", + "Secure the bottle for liquids and perform a shake.", + "Pick the yellow-capped plastic bottle and perform shaking motion.", + "Shake the bottle with narrow neck using the left arm after grabbing.", + "Use the left arm to grab the plastic bottle with sealed yellow cap and shake it.", + "Lift the bottle with yellow cap with the left arm and give it a shake.", + "Use the left arm to hold the bottle for liquids and shake it.", + "Shake the orange bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the medium-sized orange bottle and shake it.", + "Lift the bottle with narrow neck with the left arm and shake it.", + "Hold the smooth plastic bottle with the left arm and shake lightly.", + "Hold and shake the the bottle with narrow neck carefully.", + "Lift the plastic bottle with the left arm and shake.", + "Using the left arm, shake the bottle for liquids and then place it back.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Shake the orange cylindrical bottle after grabbing it.", + "Grip the plastic bottle with sealed yellow cap using the left arm and shake.", + "Grab and shake the bottle with printed label using the left arm.", + "Shake the plastic bottle after lifting it.", + "Grasp the orange bottle with the left arm and shake it.", + "Grab the orange bottle firmly, shake it, and put it down.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "With the left arm, pick the bottle with narrow neck and shake properly.", + "Shake the cylindrical orange bottle with yellow top after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Catch the yellow-capped plastic bottle and shake it instantly.", + "Pick the plastic bottle with sealed yellow cap up with the left arm and shake.", + "Use the left arm to grab the medium-sized orange bottle and shake properly.", + "Pick the bottle with narrow neck, shake it with the left arm.", + "Lift up the bottle with yellow cap using the left arm, then shake.", + "Grab the plastic bottle with sealed yellow cap with the left arm and shake.", + "Pick up the bottle for liquids and shake it well.", + "Take the orange bottle using the left arm and give it a shake.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.", + "Hold the bottle with yellow cap and shake it properly.", + "Grab the bottle for liquids and shake it steadily.", + "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.", + "Grab the cylindrical orange bottle with yellow top and move it to shake.", + "Hold the bottle with narrow neck steady, then shake it.", + "Pick the bottle for liquids up using the left arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Shake the the cylindrical orange bottle with yellow top properly after lifting.", + "Pick up the bottle with yellow cap and shake it.", + "Lift the bottle with printed label and shake it gently.", + "Use the left arm to lift and shake the bottle with printed label.", + "Grab the cylindrical orange bottle with yellow top carefully and shake.", + "Use the left arm to pick and shake the bottle for liquids.", + "Shake the plastic bottle with sealed yellow cap after grabbing it.", + "Grab the orange cylindrical bottle using the left arm, then shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Secure the bottle with yellow cap and perform a shake.", + "Pick the smooth plastic bottle and perform shaking motion.", + "Shake the orange cylindrical bottle using the left arm after grabbing.", + "Use the left arm to grab the bottle with narrow neck and shake it.", + "Lift the bottle with printed label with the left arm and give it a shake.", + "Use the left arm to hold the bottle with yellow cap and shake it.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the bottle with printed label and shake it.", + "Lift the medium-sized orange bottle with the left arm and shake it.", + "Hold the bottle with narrow neck with the left arm and shake lightly.", + "Hold and shake the the bottle for liquids carefully.", + "Lift the plastic bottle with the left arm and shake.", + "Using the left arm, shake the bottle with yellow cap and then place it back." + ], + "unseen": [ + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Grab the handheld orange bottle and give it a shake.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture and shake it.", + "Pick up the handheld orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode77.json b/shake_bottle/ur5_randomized_500/instructions/episode77.json new file mode 100644 index 0000000000000000000000000000000000000000..edaf7edb3cec31a4e9198a2ff8f91ab05c5bb1bc --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode77.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth cylindrical bottle thoroughly after grabbing it.", + "Use the right arm to hold the rounded body bottle made of plastic and shake it.", + "Take the plastic bottle with ghost print using the right arm and give it a shake.", + "Use the right arm to grab the rounded body bottle made of plastic and shake properly.", + "Pick the milk-bottle shape design, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with cute ghost drawing.", + "Grab the smooth surface bottle with gray shade with the right arm and shake.", + "Utilize the right arm to hold the bottle with cute ghost drawing and shake it.", + "Hold the smooth surface bottle with gray shade, shake it briefly.", + "Hold and shake the the hand-sized bottle with screw cap carefully.", + "Use the right arm to lift and shake the plastic bottle with ghost print.", + "Shake the light gray colored container bottle after holding it firmly.", + "Catch the gray bottle with slight shine and shake it instantly.", + "Grab the smooth cylindrical bottle carefully and shake.", + "Grasp the rounded body bottle made of plastic with the right arm and shake it.", + "Hold the plastic bottle with ghost print and shake it properly.", + "Grab the hand-sized bottle with screw cap and shake it steadily.", + "With the right arm, pick the milk-bottle shape design and shake properly.", + "Pick up the hand-sized bottle with screw cap and shake it well.", + "Using the right arm, shake the bottle with cute ghost drawing and then place it back.", + "Grab the medium cylinder-shaped bottle and give it a shake.", + "Secure the plastic bottle with ghost print and perform a shake.", + "Secure the rounded body bottle made of plastic, shake it, and place it down.", + "Pick the rounded body bottle made of plastic and perform shaking motion.", + "Shake the plastic bottle with ghost print after grabbing it.", + "Lift the bottle shaped like small cylinder with the right arm and give it a shake.", + "Grab the smooth surface bottle with gray shade and move it to shake.", + "Shake the medium cylinder-shaped bottle after lifting it.", + "Grab the smooth cylindrical bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the smooth cylindrical bottle.", + "Shake the medium-sized plastic bottle using the right arm after grabbing.", + "Lift the smooth cylindrical bottle and shake it gently.", + "Lift the smooth surface bottle with gray shade with the right arm and shake.", + "Shake the milk-bottle shape design after grabbing it.", + "Use the right arm to grab the bottle with cute ghost drawing and shake it.", + "Lift the rounded body bottle made of plastic and shake it thoroughly.", + "Hold the hand-sized bottle with screw cap with the right arm and shake lightly.", + "Lift up the medium-sized plastic bottle using the right arm, then shake.", + "Shake the the rounded body bottle made of plastic properly after lifting.", + "Hold the milk-bottle shape design steady, then shake it.", + "Pick up the plastic bottle with ghost print and shake it.", + "Use the right arm to pick and shake the gray bottle with slight shine.", + "Pick the milk-bottle shape design up using the right arm and shake it.", + "Grip the bottle with cute ghost drawing using the right arm and shake.", + "Shake the smooth surface bottle with gray shade after grabbing it.", + "Grab the light gray colored container bottle using the right arm, then shake.", + "Shake the light gray colored container bottle firmly after grabbing.", + "Lift the rounded body bottle made of plastic with the right arm and shake it.", + "Grab and shake the rounded body bottle made of plastic using the right arm.", + "Pick the rounded body bottle made of plastic up with the right arm and shake.", + "Shake the medium-sized plastic bottle thoroughly after grabbing it.", + "Use the right arm to hold the medium cylinder-shaped bottle and shake it.", + "Take the hand-sized bottle with screw cap using the right arm and give it a shake.", + "Use the right arm to grab the bottle with cute ghost drawing and shake properly.", + "Pick the milk-bottle shape design, shake it with the right arm.", + "Use the right arm to lift and shake the smooth cylindrical bottle.", + "Grab the light gray colored container bottle with the right arm and shake.", + "Utilize the right arm to hold the milk-bottle shape design and shake it.", + "Hold the gray bottle with slight shine, shake it briefly.", + "Hold and shake the the gray bottle with slight shine carefully.", + "Use the right arm to lift and shake the medium cylinder-shaped bottle.", + "Shake the medium cylinder-shaped bottle after holding it firmly.", + "Catch the medium-sized plastic bottle and shake it instantly.", + "Grab the medium-sized plastic bottle carefully and shake.", + "Grasp the medium cylinder-shaped bottle with the right arm and shake it.", + "Hold the milk-bottle shape design and shake it properly.", + "Grab the milk-bottle shape design and shake it steadily.", + "With the right arm, pick the milk-bottle shape design and shake properly.", + "Pick up the gray bottle with slight shine and shake it well.", + "Using the right arm, shake the rounded body bottle made of plastic and then place it back.", + "Grab the milk-bottle shape design and give it a shake.", + "Secure the bottle with cute ghost drawing and perform a shake.", + "Secure the plastic bottle with ghost print, shake it, and place it down.", + "Pick the milk-bottle shape design and perform shaking motion.", + "Shake the bottle shaped like small cylinder after grabbing it.", + "Lift the smooth cylindrical bottle with the right arm and give it a shake.", + "Grab the smooth cylindrical bottle and move it to shake.", + "Shake the plastic bottle with ghost print after lifting it.", + "Grab the medium-sized plastic bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the smooth surface bottle with gray shade.", + "Shake the bottle shaped like small cylinder using the right arm after grabbing.", + "Lift the hand-sized bottle with screw cap and shake it gently.", + "Lift the bottle with cute ghost drawing with the right arm and shake.", + "Shake the bottle shaped like small cylinder after grabbing it.", + "Use the right arm to grab the bottle shaped like small cylinder and shake it.", + "Lift the plastic bottle with ghost print and shake it thoroughly.", + "Hold the hand-sized bottle with screw cap with the right arm and shake lightly.", + "Lift up the bottle with cute ghost drawing using the right arm, then shake.", + "Shake the the rounded body bottle made of plastic properly after lifting.", + "Hold the medium-sized plastic bottle steady, then shake it.", + "Pick up the medium cylinder-shaped bottle and shake it.", + "Use the right arm to pick and shake the bottle shaped like small cylinder.", + "Pick the rounded body bottle made of plastic up using the right arm and shake it.", + "Grip the bottle shaped like small cylinder using the right arm and shake.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Grab the plastic bottle with ghost print using the right arm, then shake.", + "Shake the gray bottle with slight shine firmly after grabbing.", + "Lift the smooth surface bottle with gray shade with the right arm and shake it.", + "Grab and shake the medium-sized plastic bottle using the right arm.", + "Pick the hand-sized bottle with screw cap up with the right arm and shake." + ], + "unseen": [ + "Grab the bottle with rounded cap top and give it a shake.", + "Use the right arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the gray bottle for holding drinks after picking it with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the light gray bottle and give it a shake.", + "Use the right arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the right arm.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the bottle with rounded cap top after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the light gray bottle and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the gray bottle for holding drinks and shake.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the right arm to pick the light gray bottle.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the light gray bottle and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the right arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with rounded cap top and shake.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the right arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick up the gray bottle for holding drinks with the right arm and shake.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake.", + "Grab the light gray bottle and give it a shake.", + "Use the right arm to pick the gray bottle for holding drinks.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the right arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the right arm.", + "Shake the light gray bottle after picking it with the right arm.", + "Use the right arm to grab the light gray bottle and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode78.json b/shake_bottle/ur5_randomized_500/instructions/episode78.json new file mode 100644 index 0000000000000000000000000000000000000000..dd4f5b1c10855cdb90b28139d4cb999d5a17cdc2 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode78.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the smooth brown bottle.", + "Shake the bottle with dark brown color firmly after grabbing.", + "Grab the cylindrical bottle with narrow neck using the right arm, then shake.", + "Lift the rounded bottle with printed details and shake it gently.", + "Grip the bottle with brown body and white top using the right arm and shake.", + "Use the right arm to grab the medium plastic bottle and shake properly.", + "Lift the rounded bottle with printed details with the right arm and give it a shake.", + "Shake the the plastic bottle for liquids properly after lifting.", + "Grab the rounded bottle with printed details carefully and shake.", + "Pick up the plastic bottle with printed label and shake it.", + "Grab and shake the bottle with white cap using the right arm.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Lift the bottle with white cap with the right arm and shake.", + "Hold the smooth brown bottle and shake it properly.", + "Pick the plastic bottle with printed label up with the right arm and shake.", + "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.", + "Hold the bottle with white cap, shake it briefly.", + "Grab the smooth brown bottle and give it a shake.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Shake the rounded bottle with printed details after grabbing it.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Grab the handheld brown bottle with white lid with the right arm and shake.", + "Grab the white-capped brown cylindrical bottle and move it to shake.", + "Shake the bottle with dark brown color using the right arm after grabbing.", + "Pick up the plastic bottle for liquids and shake it well.", + "Pick the bottle with dark brown color and perform shaking motion.", + "Shake the plastic bottle for liquids after grabbing it.", + "Hold the rounded bottle with printed details with the right arm and shake lightly.", + "Shake the bottle with white cap after lifting it.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Pick the plastic bottle for liquids, shake it with the right arm.", + "Grab the smooth brown bottle and shake it steadily.", + "Hold and shake the the medium bottle with smooth texture carefully.", + "Lift the plastic bottle with printed label with the right arm and shake it.", + "Lift the bottle with dark brown color and shake it thoroughly.", + "Shake the rounded bottle with printed details thoroughly after grabbing it.", + "Pick the plastic bottle for liquids up using the right arm and shake it.", + "Take the bottle with white cap using the right arm and give it a shake.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Use the right arm to grab the cylindrical bottle with narrow neck and shake it.", + "Grab the plastic bottle for liquids firmly, shake it, and put it down.", + "Use the right arm to hold the medium plastic bottle and shake it.", + "Utilize the right arm to hold the medium bottle with smooth texture and shake it.", + "Lift up the bottle with white cap using the right arm, then shake.", + "Shake the rounded bottle with printed details after grabbing it.", + "Hold the plastic bottle with printed label steady, then shake it.", + "Use the right arm to lift and shake the smooth brown bottle.", + "Secure the medium plastic bottle and perform a shake.", + "Catch the rounded bottle with printed details and shake it instantly.", + "Use the right arm to pick and shake the plastic bottle for liquids.", + "Use the right arm to lift and shake the bottle with white cap.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Lift the plastic bottle with printed label and shake it gently.", + "Grip the plastic bottle with printed label using the right arm and shake.", + "Use the right arm to grab the medium bottle with smooth texture and shake properly.", + "Lift the white-capped brown cylindrical bottle with the right arm and give it a shake.", + "Shake the the bottle with white cap properly after lifting.", + "Grab the smooth brown bottle carefully and shake.", + "Pick up the medium plastic bottle and shake it.", + "Grab and shake the plastic bottle with printed label using the right arm.", + "Shake the bottle with white cap after holding it firmly.", + "Lift the medium bottle with smooth texture with the right arm and shake.", + "Hold the rounded bottle with printed details and shake it properly.", + "Pick the rounded bottle with printed details up with the right arm and shake.", + "Grasp the bottle with brown body and white top with the right arm and shake it.", + "Hold the white-capped brown cylindrical bottle, shake it briefly.", + "Grab the plastic bottle with printed label and give it a shake.", + "With the right arm, pick the medium plastic bottle and shake properly.", + "Shake the bottle with brown body and white top after grabbing it.", + "Secure the white-capped brown cylindrical bottle, shake it, and place it down.", + "Grab the handheld brown bottle with white lid with the right arm and shake.", + "Grab the medium bottle with smooth texture and move it to shake.", + "Shake the smooth brown bottle using the right arm after grabbing.", + "Pick up the plastic bottle with printed label and shake it well.", + "Pick the white-capped brown cylindrical bottle and perform shaking motion.", + "Shake the plastic bottle for liquids after grabbing it.", + "Hold the medium plastic bottle with the right arm and shake lightly.", + "Shake the bottle with brown body and white top after lifting it.", + "Using the right arm, shake the bottle with brown body and white top and then place it back.", + "Pick the bottle with brown body and white top, shake it with the right arm.", + "Grab the smooth brown bottle and shake it steadily.", + "Hold and shake the the plastic bottle with printed label carefully.", + "Lift the rounded bottle with printed details with the right arm and shake it.", + "Lift the bottle with brown body and white top and shake it thoroughly.", + "Shake the bottle with dark brown color thoroughly after grabbing it.", + "Pick the bottle with dark brown color up using the right arm and shake it.", + "Take the medium bottle with smooth texture using the right arm and give it a shake.", + "Use the right arm to lift and shake the plastic bottle with printed label.", + "Use the right arm to grab the plastic bottle for liquids and shake it.", + "Grab the medium plastic bottle firmly, shake it, and put it down.", + "Use the right arm to hold the bottle with white cap and shake it.", + "Utilize the right arm to hold the bottle with brown body and white top and shake it.", + "Lift up the bottle with brown body and white top using the right arm, then shake.", + "Shake the smooth brown bottle after grabbing it.", + "Hold the handheld brown bottle with white lid steady, then shake it.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "Secure the plastic bottle with printed label and perform a shake.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Use the right arm to pick and shake the bottle with dark brown color." + ], + "unseen": [ + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Grab the brown bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode79.json b/shake_bottle/ur5_randomized_500/instructions/episode79.json new file mode 100644 index 0000000000000000000000000000000000000000..e9850d9894c1e1f5cd09006ced64c1dd0aa0b6aa --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode79.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the rounded body bottle made of plastic up with the left arm and shake.", + "Hold the gray bottle with slight shine steady, then shake it.", + "Lift the gray bottle with slight shine and shake it gently.", + "Use the left arm to pick and shake the smooth surface bottle with gray shade.", + "Use the left arm to hold the medium-sized plastic bottle and shake it.", + "Grab and shake the smooth surface bottle with gray shade using the left arm.", + "Shake the smooth cylindrical bottle after holding it firmly.", + "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.", + "Hold the hand-sized bottle with screw cap, shake it briefly.", + "Pick the bottle with cute ghost drawing, shake it with the left arm.", + "Using the left arm, shake the hand-sized bottle with screw cap and then place it back.", + "Pick up the bottle shaped like small cylinder and shake it well.", + "Secure the gray bottle with slight shine and perform a shake.", + "Lift the rounded body bottle made of plastic with the left arm and give it a shake.", + "Pick the milk-bottle shape design and perform shaking motion.", + "Shake the rounded body bottle made of plastic thoroughly after grabbing it.", + "Take the smooth surface bottle with gray shade using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Utilize the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Grab the rounded body bottle made of plastic using the left arm, then shake.", + "Grab the light gray colored container bottle and shake it steadily.", + "Shake the medium-sized plastic bottle after lifting it.", + "Shake the milk-bottle shape design after grabbing it.", + "Use the left arm to lift and shake the gray bottle with slight shine.", + "Shake the plastic bottle with ghost print firmly after grabbing.", + "Grip the smooth surface bottle with gray shade using the left arm and shake.", + "Grab the hand-sized bottle with screw cap with the left arm and shake.", + "Use the left arm to grab the smooth cylindrical bottle and shake properly.", + "Catch the light gray colored container bottle and shake it instantly.", + "Lift the light gray colored container bottle with the left arm and shake.", + "Shake the the rounded body bottle made of plastic properly after lifting.", + "Lift the bottle with cute ghost drawing and shake it thoroughly.", + "Shake the bottle shaped like small cylinder using the left arm after grabbing.", + "Grasp the medium cylinder-shaped bottle with the left arm and shake it.", + "Grab the plastic bottle with ghost print and give it a shake.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Secure the gray bottle with slight shine, shake it, and place it down.", + "Grab the medium cylinder-shaped bottle carefully and shake.", + "Lift the smooth surface bottle with gray shade with the left arm and shake it.", + "Pick the bottle shaped like small cylinder up using the left arm and shake it.", + "Hold and shake the the rounded body bottle made of plastic carefully.", + "With the left arm, pick the bottle shaped like small cylinder and shake properly.", + "Use the left arm to lift and shake the smooth surface bottle with gray shade.", + "Hold the smooth cylindrical bottle and shake it properly.", + "Use the left arm to grab the rounded body bottle made of plastic and shake it.", + "Grab the plastic bottle with ghost print and move it to shake.", + "Lift up the hand-sized bottle with screw cap using the left arm, then shake.", + "Pick up the plastic bottle with ghost print and shake it.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Hold the smooth cylindrical bottle with the left arm and shake lightly.", + "Pick the gray bottle with slight shine up with the left arm and shake.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Lift the rounded body bottle made of plastic and shake it gently.", + "Use the left arm to pick and shake the gray bottle with slight shine.", + "Use the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Grab and shake the medium cylinder-shaped bottle using the left arm.", + "Shake the plastic bottle with ghost print after holding it firmly.", + "Grab the smooth cylindrical bottle firmly, shake it, and put it down.", + "Hold the plastic bottle with ghost print, shake it briefly.", + "Pick the bottle with cute ghost drawing, shake it with the left arm.", + "Using the left arm, shake the bottle with cute ghost drawing and then place it back.", + "Pick up the light gray colored container bottle and shake it well.", + "Secure the hand-sized bottle with screw cap and perform a shake.", + "Lift the bottle shaped like small cylinder with the left arm and give it a shake.", + "Pick the gray bottle with slight shine and perform shaking motion.", + "Shake the medium-sized plastic bottle thoroughly after grabbing it.", + "Take the light gray colored container bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the hand-sized bottle with screw cap.", + "Utilize the left arm to hold the smooth cylindrical bottle and shake it.", + "Grab the medium-sized plastic bottle using the left arm, then shake.", + "Grab the plastic bottle with ghost print and shake it steadily.", + "Shake the bottle with cute ghost drawing after lifting it.", + "Shake the bottle with cute ghost drawing after grabbing it.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Shake the smooth cylindrical bottle firmly after grabbing.", + "Grip the plastic bottle with ghost print using the left arm and shake.", + "Grab the bottle shaped like small cylinder with the left arm and shake.", + "Use the left arm to grab the smooth cylindrical bottle and shake properly.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Lift the hand-sized bottle with screw cap with the left arm and shake.", + "Shake the the medium cylinder-shaped bottle properly after lifting.", + "Lift the smooth cylindrical bottle and shake it thoroughly.", + "Shake the bottle shaped like small cylinder using the left arm after grabbing.", + "Grasp the rounded body bottle made of plastic with the left arm and shake it.", + "Grab the rounded body bottle made of plastic and give it a shake.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Secure the bottle shaped like small cylinder, shake it, and place it down.", + "Grab the medium-sized plastic bottle carefully and shake.", + "Lift the medium cylinder-shaped bottle with the left arm and shake it.", + "Pick the hand-sized bottle with screw cap up using the left arm and shake it.", + "Hold and shake the the medium-sized plastic bottle carefully.", + "With the left arm, pick the bottle shaped like small cylinder and shake properly.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Hold the light gray colored container bottle and shake it properly.", + "Use the left arm to grab the hand-sized bottle with screw cap and shake it.", + "Grab the plastic bottle with ghost print and move it to shake.", + "Lift up the bottle with cute ghost drawing using the left arm, then shake.", + "Pick up the light gray colored container bottle and shake it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Hold the smooth surface bottle with gray shade with the left arm and shake lightly." + ], + "unseen": [ + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to pick the light gray bottle.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode8.json b/shake_bottle/ur5_randomized_500/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..4cc4419be87c44108934be3f4395c7b5416442ce --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the bottle with printed label with the left arm and shake it.", + "Grab the bottle with narrow neck and give it a shake.", + "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.", + "Grab the plastic bottle with sealed yellow cap using the left arm, then shake.", + "Shake the medium-sized orange bottle using the left arm after grabbing.", + "Using the left arm, shake the cylindrical orange bottle with yellow top and then place it back.", + "Pick up the plastic bottle with sealed yellow cap and shake it well.", + "Use the left arm to lift and shake the bottle with printed label.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Grip the medium-sized orange bottle using the left arm and shake.", + "Catch the orange bottle and shake it instantly.", + "Use the left arm to grab the bottle with narrow neck and shake properly.", + "Shake the medium-sized orange bottle after lifting it.", + "Hold the orange cylindrical bottle steady, then shake it.", + "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Shake the bottle for liquids after grabbing it.", + "Lift the yellow-capped plastic bottle with the left arm and shake.", + "Grab and shake the orange cylindrical bottle using the left arm.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grab the orange cylindrical bottle firmly, shake it, and put it down.", + "Grab the plastic bottle with sealed yellow cap with the left arm and shake.", + "Pick up the medium-sized orange bottle and shake it.", + "Lift the orange cylindrical bottle with the left arm and give it a shake.", + "Grab the bottle for liquids carefully and shake.", + "Pick the orange bottle, shake it with the left arm.", + "Shake the orange cylindrical bottle after holding it firmly.", + "Pick the bottle with printed label and perform shaking motion.", + "Secure the yellow-capped plastic bottle, shake it, and place it down.", + "With the left arm, pick the bottle for liquids and shake properly.", + "Grab the plastic bottle with sealed yellow cap and move it to shake.", + "Lift the medium-sized orange bottle and shake it gently.", + "Shake the yellow-capped plastic bottle thoroughly after grabbing it.", + "Secure the plastic bottle and perform a shake.", + "Lift the orange bottle and shake it thoroughly.", + "Utilize the left arm to hold the orange cylindrical bottle and shake it.", + "Use the left arm to lift and shake the bottle with printed label.", + "Grab the smooth plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.", + "Shake the orange bottle after grabbing it.", + "Lift up the bottle with yellow cap using the left arm, then shake.", + "Hold the bottle with yellow cap, shake it briefly.", + "Use the left arm to pick and shake the orange bottle.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the cylindrical orange bottle with yellow top firmly after grabbing.", + "Hold and shake the the orange cylindrical bottle carefully.", + "Shake the medium-sized orange bottle after grabbing it.", + "Take the bottle with yellow cap using the left arm and give it a shake.", + "Shake the the bottle with narrow neck properly after lifting.", + "Hold the bottle with narrow neck and shake it properly.", + "Grasp the bottle for liquids with the left arm and shake it.", + "Grab the plastic bottle with sealed yellow cap and give it a shake.", + "Pick the bottle with printed label up using the left arm and shake it.", + "Grab the bottle for liquids using the left arm, then shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Using the left arm, shake the bottle with narrow neck and then place it back.", + "Pick up the cylindrical orange bottle with yellow top and shake it well.", + "Use the left arm to lift and shake the bottle with yellow cap.", + "Hold the cylindrical orange bottle with yellow top with the left arm and shake lightly.", + "Grip the plastic bottle using the left arm and shake.", + "Catch the bottle for liquids and shake it instantly.", + "Use the left arm to grab the orange cylindrical bottle and shake properly.", + "Shake the bottle for liquids after lifting it.", + "Hold the cylindrical orange bottle with yellow top steady, then shake it.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Pick the bottle with narrow neck up with the left arm and shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Lift the smooth plastic bottle with the left arm and shake.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to hold the bottle with yellow cap and shake it.", + "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.", + "Grab the yellow-capped plastic bottle with the left arm and shake.", + "Pick up the cylindrical orange bottle with yellow top and shake it.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grab the bottle for liquids carefully and shake.", + "Pick the bottle for liquids, shake it with the left arm.", + "Shake the bottle for liquids after holding it firmly.", + "Pick the medium-sized orange bottle and perform shaking motion.", + "Secure the orange cylindrical bottle, shake it, and place it down.", + "With the left arm, pick the bottle with yellow cap and shake properly.", + "Grab the orange bottle and move it to shake.", + "Lift the medium-sized orange bottle and shake it gently.", + "Shake the orange bottle thoroughly after grabbing it.", + "Secure the bottle for liquids and perform a shake.", + "Lift the orange cylindrical bottle and shake it thoroughly.", + "Utilize the left arm to hold the orange bottle and shake it.", + "Use the left arm to lift and shake the bottle with printed label.", + "Grab the orange bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with narrow neck.", + "Shake the bottle with printed label after grabbing it.", + "Lift up the cylindrical orange bottle with yellow top using the left arm, then shake.", + "Hold the cylindrical orange bottle with yellow top, shake it briefly.", + "Use the left arm to pick and shake the medium-sized orange bottle.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Shake the orange bottle firmly after grabbing.", + "Hold and shake the the bottle for liquids carefully.", + "Shake the bottle for liquids after grabbing it.", + "Take the orange bottle using the left arm and give it a shake.", + "Shake the the plastic bottle with sealed yellow cap properly after lifting.", + "Hold the bottle with printed label and shake it properly." + ], + "unseen": [ + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the orange bottle with smooth texture after picking it with the left arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the handheld orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the handheld orange bottle with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the handheld orange bottle with the left arm and shake.", + "Use the left arm to pick the label-covered orange bottle.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the orange bottle with smooth texture, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the orange bottle with smooth texture and give it a shake.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Use the left arm to grab the handheld orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the label-covered orange bottle with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Use the left arm to grab the orange bottle with smooth texture and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the handheld orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the handheld orange bottle and shake it.", + "Grab the handheld orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the label-covered orange bottle and shake it.", + "Pick up the label-covered orange bottle with the left arm and shake.", + "Use the left arm to pick the orange bottle with smooth texture.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down.", + "Pick and shake the the orange bottle with smooth texture with the left arm.", + "Pick up the orange bottle with smooth texture and shake it.", + "Grab the label-covered orange bottle and give it a shake.", + "Pick up the label-covered orange bottle and shake it.", + "Grab the orange bottle with smooth texture and shake it.", + "Pick up the orange bottle with smooth texture with the left arm and shake.", + "Use the left arm to pick the handheld orange bottle.", + "Use the left arm to grab the label-covered orange bottle and shake.", + "Shake the label-covered orange bottle after picking it with the left arm.", + "Grab the label-covered orange bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode80.json b/shake_bottle/ur5_randomized_500/instructions/episode80.json new file mode 100644 index 0000000000000000000000000000000000000000..2b1a7a0ecf252ce551802a9ad8b4aec687d859b0 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode80.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the yellow bottle firmly, shake it, and put it down.", + "Use the right arm to grab the yellow container with rounded edges and shake it.", + "Lift the bottle with white cap and shake it gently.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Shake the the yellow bottle properly after lifting.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Hold the yellow bottle, shake it briefly.", + "Shake the yellow bottle with a green design after grabbing it.", + "Pick the yellow container with rounded edges, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with green label.", + "Pick up the yellow bottle and shake it well.", + "Hold and shake the the yellow bottle with a green design carefully.", + "Pick the rectangular bottle with cylindrical neck up using the right arm and shake it.", + "Lift the bottle with a smooth plastic body with the right arm and shake.", + "Secure the plastic bottle and perform a shake.", + "Shake the yellow bottle using the right arm after grabbing.", + "Shake the rectangular bottle with cylindrical neck after lifting it.", + "Use the right arm to lift and shake the smooth bottle with rounded edges.", + "Use the right arm to grab the yellow bottle with a green design and shake properly.", + "Use the right arm to pick and shake the smooth bottle with rounded edges.", + "Use the right arm to hold the medium rectangular yellow bottle and shake it.", + "Pick the yellow container with rounded edges up with the right arm and shake.", + "With the right arm, pick the medium rectangular yellow bottle and shake properly.", + "Catch the plastic bottle and shake it instantly.", + "Shake the yellow bottle with a green design after grabbing it.", + "Hold the bottle with green and white labels and shake it properly.", + "Lift the yellow bottle with the right arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Lift the yellow bottle and shake it thoroughly.", + "Using the right arm, shake the yellow bottle with a green design and then place it back.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Utilize the right arm to hold the yellow bottle and shake it.", + "Take the yellow bottle with a green design using the right arm and give it a shake.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Grab the plastic bottle and move it to shake.", + "Lift the rectangular bottle with cylindrical neck with the right arm and give it a shake.", + "Shake the yellow bottle after grabbing it.", + "Hold the yellow bottle with the right arm and shake lightly.", + "Pick the bottle with white cap and perform shaking motion.", + "Lift up the bottle with green label using the right arm, then shake.", + "Shake the yellow container with rounded edges firmly after grabbing.", + "Secure the bottle with green label, shake it, and place it down.", + "Grab the bottle with white cap using the right arm, then shake.", + "Grip the bottle with a smooth plastic body using the right arm and shake.", + "Grab and shake the yellow bottle using the right arm.", + "Pick up the smooth bottle with rounded edges and shake it.", + "Grab the yellow plastic bottle with white top with the right arm and shake.", + "Grab the yellow container with rounded edges and shake it steadily.", + "Shake the bottle with a smooth plastic body thoroughly after grabbing it.", + "Hold the smooth bottle with rounded edges steady, then shake it.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Use the right arm to grab the rectangular bottle with cylindrical neck and shake it.", + "Lift the bottle with green and white labels and shake it gently.", + "Grab the medium rectangular yellow bottle and give it a shake.", + "Shake the the medium rectangular yellow bottle properly after lifting.", + "Grasp the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Hold the medium rectangular yellow bottle, shake it briefly.", + "Shake the bottle with a smooth plastic body after grabbing it.", + "Pick the yellow container with rounded edges, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with white cap.", + "Pick up the rectangular bottle with cylindrical neck and shake it well.", + "Hold and shake the the bottle with white cap carefully.", + "Pick the yellow bottle with a green design up using the right arm and shake it.", + "Lift the bottle with green and white labels with the right arm and shake.", + "Secure the plastic bottle and perform a shake.", + "Shake the yellow plastic bottle with white top using the right arm after grabbing.", + "Shake the yellow bottle with a green design after lifting it.", + "Use the right arm to lift and shake the bottle with white cap.", + "Use the right arm to grab the yellow bottle with a green design and shake properly.", + "Use the right arm to pick and shake the bottle with white cap.", + "Use the right arm to hold the plastic bottle and shake it.", + "Pick the bottle with a smooth plastic body up with the right arm and shake.", + "With the right arm, pick the smooth bottle with rounded edges and shake properly.", + "Catch the yellow bottle and shake it instantly.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Hold the yellow bottle with a green design and shake it properly.", + "Lift the smooth bottle with rounded edges with the right arm and shake it.", + "Grab the yellow bottle carefully and shake.", + "Lift the yellow bottle with a green design and shake it thoroughly.", + "Using the right arm, shake the rectangular bottle with cylindrical neck and then place it back.", + "Shake the yellow container with rounded edges after holding it firmly.", + "Utilize the right arm to hold the yellow bottle and shake it.", + "Take the yellow container with rounded edges using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with green label.", + "Grab the yellow plastic bottle with white top and move it to shake.", + "Lift the bottle with white cap with the right arm and give it a shake.", + "Shake the bottle with green and white labels after grabbing it.", + "Hold the smooth bottle with rounded edges with the right arm and shake lightly.", + "Pick the bottle with green and white labels and perform shaking motion.", + "Lift up the bottle with green label using the right arm, then shake.", + "Shake the bottle with green label firmly after grabbing.", + "Secure the yellow plastic bottle with white top, shake it, and place it down.", + "Grab the yellow plastic bottle with white top using the right arm, then shake.", + "Grip the bottle with green label using the right arm and shake.", + "Grab and shake the smooth bottle with rounded edges using the right arm.", + "Pick up the yellow bottle with a green design and shake it.", + "Grab the bottle with white cap with the right arm and shake.", + "Grab the bottle with a smooth plastic body and shake it steadily.", + "Shake the yellow bottle with a green design thoroughly after grabbing it.", + "Hold the yellow plastic bottle with white top steady, then shake it." + ], + "unseen": [ + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode81.json b/shake_bottle/ur5_randomized_500/instructions/episode81.json new file mode 100644 index 0000000000000000000000000000000000000000..0f51158f7109511834922085b9e4e8deb30193a6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode81.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with curved sides with the right arm and shake.", + "Lift the medium plastic bottle with cap with the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Grab and shake the yellow bottle for liquid storage using the right arm.", + "Take the yellow bottle with dark label using the right arm and give it a shake.", + "Use the right arm to grab the yellow bottle with blue label and shake it.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Secure the yellow bottle for liquid storage, shake it, and place it down.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick the bottle for liquid up with the right arm and shake.", + "Use the right arm to lift and shake the plastic bottle with curved sides.", + "Utilize the right arm to hold the handheld curvy bottle and shake it.", + "Pick the bottle with screw cap and perform shaking motion.", + "Lift the yellow bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Use the right arm to grab the yellow bottle for liquid storage and shake properly.", + "Shake the yellow bottle for liquid storage using the right arm after grabbing.", + "Shake the yellow bottle with dark label firmly after grabbing.", + "Pick the handheld curvy bottle, shake it with the right arm.", + "Shake the yellow bottle after grabbing it.", + "Grab the handheld curvy bottle using the right arm, then shake.", + "Hold the bottle with screw cap, shake it briefly.", + "Grasp the smooth plastic bottle with the right arm and shake it.", + "Use the right arm to pick and shake the smooth plastic bottle.", + "Hold the medium-sized bottle and shake it properly.", + "Lift up the plastic bottle with curved sides using the right arm, then shake.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Grab the plastic bottle with curved sides and shake it steadily.", + "Grab the plastic bottle with curved sides firmly, shake it, and put it down.", + "Pick up the medium plastic bottle with cap and shake it.", + "Catch the yellow bottle with blue label and shake it instantly.", + "Shake the smooth plastic bottle after lifting it.", + "Secure the plastic bottle and perform a shake.", + "Shake the the bottle with screw cap properly after lifting.", + "Lift the plastic bottle with curved sides and shake it thoroughly.", + "Using the right arm, shake the yellow bottle with blue label and then place it back.", + "Grab the yellow bottle with dark label and move it to shake.", + "Shake the bottle with screw cap after grabbing it.", + "Grab the yellow bottle carefully and shake.", + "Hold and shake the the bottle with screw cap carefully.", + "With the right arm, pick the bottle for liquid and shake properly.", + "Pick the plastic bottle with curved sides up using the right arm and shake it.", + "Hold the medium-sized bottle steady, then shake it.", + "Lift the bottle for liquid and shake it gently.", + "Shake the yellow bottle after grabbing it.", + "Use the right arm to hold the medium-sized bottle and shake it.", + "Shake the plastic bottle with curved sides after holding it firmly.", + "Pick up the plastic bottle and shake it well.", + "Grab the handheld curvy bottle with the right arm and shake.", + "Lift the medium-sized bottle with the right arm and shake.", + "Lift the yellow bottle for liquid storage with the right arm and shake it.", + "Use the right arm to lift and shake the yellow bottle with dark label.", + "Grab and shake the yellow bottle for liquid storage using the right arm.", + "Take the yellow bottle for liquid storage using the right arm and give it a shake.", + "Use the right arm to grab the bottle with screw cap and shake it.", + "Hold the yellow bottle with blue label with the right arm and shake lightly.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the smooth plastic bottle thoroughly after grabbing it.", + "Pick the yellow bottle with blue label up with the right arm and shake.", + "Use the right arm to lift and shake the yellow bottle with blue label.", + "Utilize the right arm to hold the bottle for liquid and shake it.", + "Pick the yellow bottle and perform shaking motion.", + "Lift the handheld curvy bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth plastic bottle.", + "Use the right arm to grab the bottle for liquid and shake properly.", + "Shake the yellow bottle using the right arm after grabbing.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the yellow bottle with dark label, shake it with the right arm.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle for liquid using the right arm, then shake.", + "Hold the bottle for liquid, shake it briefly.", + "Grasp the yellow bottle for liquid storage with the right arm and shake it.", + "Use the right arm to pick and shake the bottle for liquid.", + "Hold the yellow bottle for liquid storage and shake it properly.", + "Lift up the yellow bottle with blue label using the right arm, then shake.", + "Grip the yellow bottle using the right arm and shake.", + "Grab the medium plastic bottle with cap and give it a shake.", + "Grab the yellow bottle for liquid storage and shake it steadily.", + "Grab the bottle for liquid firmly, shake it, and put it down.", + "Pick up the yellow bottle with blue label and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Shake the plastic bottle with curved sides after lifting it.", + "Secure the yellow bottle for liquid storage and perform a shake.", + "Shake the the bottle for liquid properly after lifting.", + "Lift the handheld curvy bottle and shake it thoroughly.", + "Using the right arm, shake the bottle for liquid and then place it back.", + "Grab the yellow bottle with dark label and move it to shake.", + "Shake the plastic bottle after grabbing it.", + "Grab the handheld curvy bottle carefully and shake.", + "Hold and shake the the handheld curvy bottle carefully.", + "With the right arm, pick the plastic bottle and shake properly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Hold the yellow bottle with blue label steady, then shake it.", + "Lift the handheld curvy bottle and shake it gently.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the right arm to hold the yellow bottle for liquid storage and shake it.", + "Shake the medium plastic bottle with cap after holding it firmly.", + "Pick up the medium plastic bottle with cap and shake it well.", + "Grab the yellow bottle with blue label with the right arm and shake." + ], + "unseen": [ + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the smooth bottle with blue text and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the smooth bottle with blue text and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the curvy yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the yellow bottle with white cap, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the smooth bottle with blue text with the right arm and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the smooth bottle with blue text and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the yellow bottle with white cap and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the smooth bottle with blue text after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the curvy yellow plastic bottle, shake it properly, then set it down.", + "Pick up the curvy yellow plastic bottle with the right arm and shake.", + "Pick and shake the the smooth bottle with blue text with the right arm.", + "Use the right arm to pick the smooth bottle with blue text.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Use the right arm to grab the yellow bottle with white cap and shake.", + "Grab the curvy yellow plastic bottle and shake it.", + "Shake the yellow bottle with white cap after picking it with the right arm.", + "Grab the yellow bottle with white cap and give it a shake.", + "Pick up the curvy yellow plastic bottle and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick and shake the the yellow bottle with white cap with the right arm.", + "Use the right arm to pick the yellow bottle with white cap.", + "Pick up the smooth bottle with blue text and shake it.", + "Use the right arm to grab the curvy yellow plastic bottle and shake.", + "Grab the yellow bottle with white cap and shake it.", + "Shake the curvy yellow plastic bottle after picking it with the right arm.", + "Grab the smooth bottle with blue text and give it a shake.", + "Pick up the yellow bottle with white cap and shake it.", + "Grab the smooth bottle with blue text, shake it properly, then set it down.", + "Pick up the yellow bottle with white cap with the right arm and shake.", + "Pick and shake the the curvy yellow plastic bottle with the right arm.", + "Use the right arm to pick the curvy yellow plastic bottle." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode82.json b/shake_bottle/ur5_randomized_500/instructions/episode82.json new file mode 100644 index 0000000000000000000000000000000000000000..11de0ddce981166066a1b308e91346c1e3daa861 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode82.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick and shake the green bottle with black text label.", + "Grab and shake the green bottle with white label using the right arm.", + "With the right arm, pick the green bottle with white label and shake properly.", + "Catch the plastic bottle with colored label and shake it instantly.", + "Hold the smooth green and yellow bottle with the right arm and shake lightly.", + "Grab the plastic bottle and move it to shake.", + "Shake the cylindrical bottle with rounded cap thoroughly after grabbing it.", + "Shake the the bottle with yellow cap properly after lifting.", + "Pick the green bottle, shake it with the right arm.", + "Utilize the right arm to hold the bottle with yellow cap and shake it.", + "Grip the cylindrical bottle with rounded cap using the right arm and shake.", + "Lift up the green bottle with white label using the right arm, then shake.", + "Pick the green bottle with white label up with the right arm and shake.", + "Hold the medium bottle with green body steady, then shake it.", + "Lift the plastic bottle with colored label and shake it gently.", + "Grab the green bottle and shake it steadily.", + "Shake the cylindrical bottle with rounded cap using the right arm after grabbing.", + "Use the right arm to lift and shake the bottle with yellow cap.", + "Use the right arm to lift and shake the smooth green and yellow bottle.", + "Grab the green bottle with white label carefully and shake.", + "Grab the green bottle using the right arm, then shake.", + "Grab the green bottle with the right arm and shake.", + "Grasp the handheld plastic bottle with the right arm and shake it.", + "Pick up the bottle with yellow cap and shake it well.", + "Grab the smooth green and yellow bottle firmly, shake it, and put it down.", + "Hold the cylindrical bottle with rounded cap and shake it properly.", + "Take the green bottle using the right arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the green bottle with white label.", + "Shake the plastic bottle with colored label after lifting it.", + "Pick the plastic bottle up using the right arm and shake it.", + "Secure the handheld plastic bottle, shake it, and place it down.", + "Lift the plastic bottle with colored label and shake it thoroughly.", + "Lift the smooth green and yellow bottle with the right arm and shake it.", + "Lift the green bottle with white label with the right arm and give it a shake.", + "Shake the green bottle with white label after holding it firmly.", + "Shake the plastic bottle after grabbing it.", + "Shake the smooth green and yellow bottle after grabbing it.", + "Hold the bottle with yellow cap, shake it briefly.", + "Secure the green bottle and perform a shake.", + "Grab the handheld plastic bottle and give it a shake.", + "Pick up the smooth green and yellow bottle and shake it.", + "Lift the green bottle with the right arm and shake.", + "Use the right arm to grab the plastic bottle with colored label and shake properly.", + "Using the right arm, shake the handheld plastic bottle and then place it back.", + "Hold and shake the the cylindrical bottle with rounded cap carefully.", + "Use the right arm to hold the smooth green and yellow bottle and shake it.", + "Shake the green bottle with black text label firmly after grabbing.", + "Use the right arm to grab the green bottle with black text label and shake it.", + "Pick the green bottle and perform shaking motion.", + "Use the right arm to pick and shake the cylindrical bottle with rounded cap.", + "Grab and shake the medium bottle with green body using the right arm.", + "With the right arm, pick the handheld plastic bottle and shake properly.", + "Catch the green bottle and shake it instantly.", + "Hold the green bottle with the right arm and shake lightly.", + "Grab the green bottle and move it to shake.", + "Shake the bottle with glossy plastic finish thoroughly after grabbing it.", + "Shake the the plastic bottle with colored label properly after lifting.", + "Pick the medium bottle with green body, shake it with the right arm.", + "Utilize the right arm to hold the green bottle with black text label and shake it.", + "Grip the bottle with glossy plastic finish using the right arm and shake.", + "Lift up the green bottle using the right arm, then shake.", + "Pick the cylindrical bottle with rounded cap up with the right arm and shake.", + "Hold the plastic bottle with colored label steady, then shake it.", + "Lift the plastic bottle with colored label and shake it gently.", + "Grab the cylindrical bottle with rounded cap and shake it steadily.", + "Shake the medium bottle with green body using the right arm after grabbing.", + "Use the right arm to lift and shake the green bottle with white label.", + "Use the right arm to lift and shake the medium bottle with green body.", + "Grab the green bottle with black text label carefully and shake.", + "Grab the medium bottle with green body using the right arm, then shake.", + "Grab the plastic bottle with the right arm and shake.", + "Grasp the smooth green and yellow bottle with the right arm and shake it.", + "Pick up the green bottle and shake it well.", + "Grab the cylindrical liquid bottle with yellow top firmly, shake it, and put it down.", + "Hold the green bottle and shake it properly.", + "Take the handheld plastic bottle using the right arm and give it a shake.", + "Shake the bottle with glossy plastic finish after grabbing it.", + "Use the right arm to lift and shake the handheld plastic bottle.", + "Shake the bottle with glossy plastic finish after lifting it.", + "Pick the plastic bottle with colored label up using the right arm and shake it.", + "Secure the smooth green and yellow bottle, shake it, and place it down.", + "Lift the cylindrical liquid bottle with yellow top and shake it thoroughly.", + "Lift the handheld plastic bottle with the right arm and shake it.", + "Lift the medium bottle with green body with the right arm and give it a shake.", + "Shake the bottle with glossy plastic finish after holding it firmly.", + "Shake the bottle with yellow cap after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Hold the green bottle with white label, shake it briefly.", + "Secure the plastic bottle and perform a shake.", + "Grab the bottle with yellow cap and give it a shake.", + "Pick up the bottle with yellow cap and shake it.", + "Lift the smooth green and yellow bottle with the right arm and shake.", + "Use the right arm to grab the smooth green and yellow bottle and shake properly.", + "Using the right arm, shake the handheld plastic bottle and then place it back.", + "Hold and shake the the green bottle with black text label carefully.", + "Use the right arm to hold the medium bottle with green body and shake it.", + "Shake the cylindrical bottle with rounded cap firmly after grabbing.", + "Use the right arm to grab the bottle with glossy plastic finish and shake it.", + "Pick the handheld plastic bottle and perform shaking motion." + ], + "unseen": [ + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Pick up the bottle with green base and black prints and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Use the right arm to pick the medium-sized drink bottle.", + "Grab the bottle with green base and black prints and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the medium-sized drink bottle and shake it.", + "Grab the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Grab the bottle with green base and black prints and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Use the right arm to pick the bottle with green base and black prints.", + "Grab the medium-sized drink bottle and give it a shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode83.json b/shake_bottle/ur5_randomized_500/instructions/episode83.json new file mode 100644 index 0000000000000000000000000000000000000000..b3a229ea4f3afa5aaa0231de2e4ed14e04554a68 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode83.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the yellow label bottle using the right arm, then shake.", + "Grasp the medium orange bottle with the right arm and shake it.", + "Use the right arm to hold the drinking bottle with yellow label and shake it.", + "Lift the orange bottle with the right arm and give it a shake.", + "Grip the smooth plastic bottle using the right arm and shake.", + "Grab the bottle with ribbed orange bottom carefully and shake.", + "Shake the orange and white bottle with cap after holding it firmly.", + "Hold the medium orange bottle and shake it properly.", + "Shake the drinking bottle with yellow label after grabbing it.", + "Secure the cylindrical orange and white bottle and perform a shake.", + "Grab and shake the medium orange bottle using the right arm.", + "Utilize the right arm to hold the orange and white bottle with cap and shake it.", + "Hold the white and orange plastic bottle steady, then shake it.", + "Pick the bottle with orange cap up using the right arm and shake it.", + "With the right arm, pick the medium bottle with orange lid and shake properly.", + "Secure the cylindrical orange and white bottle, shake it, and place it down.", + "Lift the plastic bottle and shake it gently.", + "Shake the medium orange bottle using the right arm after grabbing.", + "Shake the orange bottle after grabbing it.", + "Use the right arm to lift and shake the cylindrical orange and white bottle.", + "Use the right arm to grab the white and orange plastic bottle and shake properly.", + "Shake the medium orange bottle thoroughly after grabbing it.", + "Take the drinking bottle with yellow label using the right arm and give it a shake.", + "Hold the orange bottle, shake it briefly.", + "Shake the bottle with ribbed orange bottom after grabbing it.", + "Pick the medium bottle with orange lid and perform shaking motion.", + "Pick the bottle with orange cap, shake it with the right arm.", + "Use the right arm to grab the yellow label bottle and shake it.", + "Pick up the orange and white bottle with cap and shake it.", + "Grab the smooth plastic bottle and give it a shake.", + "Hold the smooth plastic bottle with the right arm and shake lightly.", + "Hold and shake the the cylindrical orange and white bottle carefully.", + "Lift the bottle with ribbed orange bottom with the right arm and shake.", + "Shake the orange bottle firmly after grabbing.", + "Shake the cylindrical orange and white bottle after lifting it.", + "Pick up the bottle with ribbed orange bottom and shake it well.", + "Shake the the white and orange plastic bottle properly after lifting.", + "Lift the cylindrical orange and white bottle and shake it thoroughly.", + "Grab the white and orange plastic bottle and move it to shake.", + "Using the right arm, shake the bottle with ribbed orange bottom and then place it back.", + "Catch the smooth plastic bottle and shake it instantly.", + "Grab the smooth plastic bottle and shake it steadily.", + "Use the right arm to lift and shake the drinking bottle with yellow label.", + "Grab the plastic bottle using the right arm, then shake.", + "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.", + "Lift the orange and white bottle with cap with the right arm and shake it.", + "Pick the bottle with ribbed orange bottom up with the right arm and shake.", + "Use the right arm to lift and shake the medium bottle with orange lid.", + "Use the right arm to pick and shake the white and orange plastic bottle.", + "Grab the orange and white bottle with cap with the right arm and shake.", + "Lift up the smooth plastic bottle using the right arm, then shake.", + "Grasp the orange and white bottle with cap with the right arm and shake it.", + "Use the right arm to hold the orange bottle and shake it.", + "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.", + "Grip the cylindrical orange and white bottle using the right arm and shake.", + "Grab the medium orange bottle carefully and shake.", + "Shake the bottle with orange cap after holding it firmly.", + "Hold the white and orange plastic bottle and shake it properly.", + "Shake the yellow label bottle after grabbing it.", + "Secure the drinking bottle with yellow label and perform a shake.", + "Grab and shake the bottle with ribbed orange bottom using the right arm.", + "Utilize the right arm to hold the smooth plastic bottle and shake it.", + "Hold the smooth plastic bottle steady, then shake it.", + "Pick the yellow label bottle up using the right arm and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift the bottle with orange cap and shake it gently.", + "Shake the drinking bottle with yellow label using the right arm after grabbing.", + "Shake the yellow label bottle after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to grab the smooth plastic bottle and shake properly.", + "Shake the white and orange plastic bottle thoroughly after grabbing it.", + "Take the plastic bottle using the right arm and give it a shake.", + "Hold the yellow label bottle, shake it briefly.", + "Shake the medium bottle with orange lid after grabbing it.", + "Pick the medium orange bottle and perform shaking motion.", + "Pick the smooth plastic bottle, shake it with the right arm.", + "Use the right arm to grab the white and orange plastic bottle and shake it.", + "Pick up the medium bottle with orange lid and shake it.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Hold the cylindrical orange and white bottle with the right arm and shake lightly.", + "Hold and shake the the bottle with orange cap carefully.", + "Lift the drinking bottle with yellow label with the right arm and shake.", + "Shake the medium orange bottle firmly after grabbing.", + "Shake the yellow label bottle after lifting it.", + "Pick up the yellow label bottle and shake it well.", + "Shake the the bottle with orange cap properly after lifting.", + "Lift the white and orange plastic bottle and shake it thoroughly.", + "Grab the bottle with orange cap and move it to shake.", + "Using the right arm, shake the bottle with orange cap and then place it back.", + "Catch the orange bottle and shake it instantly.", + "Grab the orange and white bottle with cap and shake it steadily.", + "Use the right arm to lift and shake the medium orange bottle.", + "Grab the yellow label bottle using the right arm, then shake.", + "Grab the medium bottle with orange lid firmly, shake it, and put it down.", + "Lift the medium orange bottle with the right arm and shake it.", + "Pick the bottle with orange cap up with the right arm and shake.", + "Use the right arm to lift and shake the orange bottle.", + "Use the right arm to pick and shake the bottle with orange cap.", + "Grab the drinking bottle with yellow label with the right arm and shake." + ], + "unseen": [ + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the bottle with yellow sticker label.", + "Use the right arm to grab the bottle with curved body and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the bottle with yellow sticker label and shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the bottle with yellow sticker label with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the bottle with curved body and shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the bottle with curved body.", + "Use the right arm to grab the bottle with curved body and shake.", + "Shake the bottle with curved body after picking it with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the curvy orange bottle with white section with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the bottle with curved body and shake.", + "Shake the curvy orange bottle with white section after picking it with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the bottle with yellow sticker label and shake it.", + "Pick and shake the the bottle with yellow sticker label with the right arm.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the bottle with curved body and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the curvy orange bottle with white section with the right arm and shake.", + "Grab the curvy orange bottle with white section and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the curvy orange bottle with white section and shake.", + "Shake the bottle with yellow sticker label after picking it with the right arm.", + "Pick up the bottle with curved body with the right arm and shake.", + "Grab the bottle with curved body and shake it.", + "Pick and shake the the bottle with curved body with the right arm.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Use the right arm to pick the curvy orange bottle with white section.", + "Use the right arm to grab the curvy orange bottle with white section and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode84.json b/shake_bottle/ur5_randomized_500/instructions/episode84.json new file mode 100644 index 0000000000000000000000000000000000000000..ee7892c4cec9a0e37147725052ec311bef9789d6 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode84.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Grab the Coca-Cola bottle and give it a shake.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Shake the brown bottle with red label after lifting it.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Pick up the red-capped bottle and shake it well.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Grab the plastic drink bottle and shake it steadily.", + "Pick up the smooth bottle with red lid and shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Grab the long thin bottle using the right arm, then shake.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Shake the long thin bottle after grabbing it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Hold and shake the the medium dark brown bottle carefully.", + "Secure the bottle with white neck and red top and perform a shake.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Shake the medium dark brown bottle after grabbing it.", + "Catch the plastic drink bottle and shake it instantly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Use the right arm to lift and shake the red-capped bottle.", + "Lift the plastic drink bottle and shake it gently.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Grab the brown bottle with red label and give it a shake.", + "Pick the long thin bottle up using the right arm and shake it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Shake the hand-sized soda bottle after lifting it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift up the long thin bottle using the right arm, then shake.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Pick up the narrow-necked bottle and shake it well.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Pick up the bottle with ridges on bottom and shake it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the long thin bottle.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Grab the plastic drink bottle with the right arm and shake.", + "Hold the narrow-necked bottle steady, then shake it.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Utilize the right arm to hold the narrow-necked bottle and shake it.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Grab and shake the smooth bottle with red lid using the right arm.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Grip the plastic drink bottle using the right arm and shake.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Hold and shake the the narrow-necked bottle carefully.", + "Secure the smooth bottle with red lid and perform a shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Catch the brown bottle with red label and shake it instantly.", + "Hold the hand-sized soda bottle and shake it properly.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Lift the narrow-necked bottle and shake it gently.", + "Grasp the long thin bottle with the right arm and shake it." + ], + "unseen": [ + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode85.json b/shake_bottle/ur5_randomized_500/instructions/episode85.json new file mode 100644 index 0000000000000000000000000000000000000000..ca1c0afa68d07837187ea13303d75156b56c9c81 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode85.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the medium black bottle with printed label.", + "Grab the medium black bottle with printed label firmly, shake it, and put it down.", + "Pick the medium bottle with yellow cap up using the left arm and shake it.", + "Hold and shake the the medium bottle with yellow cap carefully.", + "Shake the black plastic bottle with Pepsi logo using the left arm after grabbing.", + "Shake the smooth black bottle with ridges firmly after grabbing.", + "Use the left arm to grab the beverage bottle with black body and shake it.", + "Catch the medium black bottle with printed label and shake it instantly.", + "Using the left arm, shake the medium black bottle with printed label and then place it back.", + "Use the left arm to lift and shake the bottle with blue and yellow print.", + "Lift up the black plastic bottle with Pepsi logo using the left arm, then shake.", + "Grab the smooth black bottle with ridges and give it a shake.", + "Lift the medium bottle with yellow cap and shake it gently.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Take the smooth black bottle with ridges using the left arm and give it a shake.", + "Grip the black bottle using the left arm and shake.", + "Hold the drink bottle with rounded yellow lid, shake it briefly.", + "Shake the yellow capped drink bottle after grabbing it.", + "Grab the bottle with blue and yellow print carefully and shake.", + "Shake the plastic bottle with colorful label thoroughly after grabbing it.", + "Hold the plastic bottle with colorful label steady, then shake it.", + "Hold the plastic bottle with colorful label with the left arm and shake lightly.", + "Shake the yellow capped drink bottle after grabbing it.", + "With the left arm, pick the black cylindrical bottle with ridges and shake properly.", + "Lift the yellow-capped cylindrical bottle with the left arm and shake.", + "Grab the yellow-capped cylindrical bottle and move it to shake.", + "Secure the plastic bottle with colorful label, shake it, and place it down.", + "Shake the medium black bottle with printed label after grabbing it.", + "Use the left arm to lift and shake the medium bottle with yellow cap.", + "Shake the smooth black bottle with ridges after holding it firmly.", + "Grab the yellow-capped cylindrical bottle and shake it steadily.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Grab and shake the plastic bottle with colorful label using the left arm.", + "Lift the black plastic bottle with Pepsi logo and shake it thoroughly.", + "Lift the medium black bottle with printed label with the left arm and shake it.", + "Grab the medium bottle with yellow cap with the left arm and shake.", + "Use the left arm to grab the black bottle and shake properly.", + "Shake the medium bottle with yellow cap after lifting it.", + "Pick the black bottle and perform shaking motion.", + "Pick the medium bottle with yellow cap up with the left arm and shake.", + "Pick the beverage bottle with black body, shake it with the left arm.", + "Secure the yellow-capped cylindrical bottle and perform a shake.", + "Pick up the smooth black bottle with ridges and shake it well.", + "Utilize the left arm to hold the plastic bottle with colorful label and shake it.", + "Pick up the medium black bottle with printed label and shake it.", + "Use the left arm to hold the black plastic bottle with Pepsi logo and shake it.", + "Hold the yellow capped drink bottle and shake it properly.", + "Grab the yellow-capped cylindrical bottle using the left arm, then shake.", + "Grasp the medium bottle with yellow cap with the left arm and shake it.", + "Lift the bottle with blue and yellow print with the left arm and give it a shake.", + "Use the left arm to pick and shake the medium black bottle with printed label.", + "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.", + "Pick the black cylindrical bottle with ridges up using the left arm and shake it.", + "Hold and shake the the medium black bottle with printed label carefully.", + "Shake the yellow-capped cylindrical bottle using the left arm after grabbing.", + "Shake the black plastic bottle with Pepsi logo firmly after grabbing.", + "Use the left arm to grab the smooth black bottle with ridges and shake it.", + "Catch the smooth black bottle with ridges and shake it instantly.", + "Using the left arm, shake the beverage bottle with black body and then place it back.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Lift up the medium black bottle with printed label using the left arm, then shake.", + "Grab the black cylindrical bottle with ridges and give it a shake.", + "Lift the beverage bottle with black body and shake it gently.", + "Shake the the smooth black bottle with ridges properly after lifting.", + "Take the bottle with blue and yellow print using the left arm and give it a shake.", + "Grip the yellow-capped cylindrical bottle using the left arm and shake.", + "Hold the yellow capped drink bottle, shake it briefly.", + "Shake the bottle with blue and yellow print after grabbing it.", + "Grab the black cylindrical bottle with ridges carefully and shake.", + "Shake the medium black bottle with printed label thoroughly after grabbing it.", + "Hold the black plastic bottle with Pepsi logo steady, then shake it.", + "Hold the medium bottle with yellow cap with the left arm and shake lightly.", + "Shake the black plastic bottle with Pepsi logo after grabbing it.", + "With the left arm, pick the plastic bottle with colorful label and shake properly.", + "Lift the black cylindrical bottle with ridges with the left arm and shake.", + "Grab the plastic bottle with colorful label and move it to shake.", + "Secure the medium black bottle with printed label, shake it, and place it down.", + "Shake the plastic bottle with colorful label after grabbing it.", + "Use the left arm to lift and shake the plastic bottle with colorful label.", + "Shake the drink bottle with rounded yellow lid after holding it firmly.", + "Grab the black bottle and shake it steadily.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Grab and shake the black plastic bottle with Pepsi logo using the left arm.", + "Lift the drink bottle with rounded yellow lid and shake it thoroughly.", + "Lift the bottle with blue and yellow print with the left arm and shake it.", + "Grab the medium bottle with yellow cap with the left arm and shake.", + "Use the left arm to grab the medium bottle with yellow cap and shake properly.", + "Shake the black cylindrical bottle with ridges after lifting it.", + "Pick the medium black bottle with printed label and perform shaking motion.", + "Pick the smooth black bottle with ridges up with the left arm and shake.", + "Pick the medium black bottle with printed label, shake it with the left arm.", + "Secure the plastic bottle with colorful label and perform a shake.", + "Pick up the bottle with blue and yellow print and shake it well.", + "Utilize the left arm to hold the beverage bottle with black body and shake it.", + "Pick up the beverage bottle with black body and shake it.", + "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Grab the black plastic bottle with Pepsi logo using the left arm, then shake.", + "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.", + "Lift the medium black bottle with printed label with the left arm and give it a shake." + ], + "unseen": [ + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the bottle with ridges near base.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the plastic bottle with blue label and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Pick up the plastic bottle with blue label and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the left arm to pick the hand-sized bottle with ridged bottom.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the plastic bottle with blue label.", + "Pick up the plastic bottle with blue label and shake it.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Shake the bottle with ridges near base after picking it with the left arm.", + "Pick up the bottle with ridges near base and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode86.json b/shake_bottle/ur5_randomized_500/instructions/episode86.json new file mode 100644 index 0000000000000000000000000000000000000000..d2a686977019e2591bbcdd85c6d33291624a51a7 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode86.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the medium bottle with glossy surface and shake it.", + "Shake the rectangular-shaped bottle with round cap after grabbing it.", + "Use the left arm to hold the brown bottle and shake it.", + "Utilize the left arm to hold the bottle with flat sides and logo and shake it.", + "Grasp the brown bottle with rounded rectangular shape with the left arm and shake it.", + "Grab the bottle with flat sides and logo using the left arm, then shake.", + "Lift the rectangular-shaped bottle with round cap and shake it thoroughly.", + "Take the bottle with flat sides and logo using the left arm and give it a shake.", + "Lift the brown bottle and shake it gently.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Pick the rectangular brown body with white top and perform shaking motion.", + "Using the left arm, shake the bottle with green cap and then place it back.", + "Shake the bottle with green cap after grabbing it.", + "Lift up the medium-sized brown plastic bottle using the left arm, then shake.", + "Hold the dark brown bottle with a squared body steady, then shake it.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Grip the smooth brown bottle with green label using the left arm and shake.", + "Shake the dark brown bottle with a squared body thoroughly after grabbing it.", + "Shake the brown bottle firmly after grabbing.", + "Use the left arm to grab the medium bottle with glossy surface and shake properly.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Use the left arm to pick and shake the plastic bottle.", + "Pick up the dark brown bottle with a squared body and shake it.", + "Grab the rectangular-shaped bottle with round cap carefully and shake.", + "Pick the rectangular brown body with white top, shake it with the left arm.", + "Shake the smooth brown bottle with green label after holding it firmly.", + "Lift the bottle with green cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium-sized brown plastic bottle.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the dark brown bottle with a squared body and shake it steadily.", + "Pick the dark brown bottle with a squared body up with the left arm and shake.", + "Grab the brown bottle with the left arm and shake.", + "With the left arm, pick the bottle with green cap and shake properly.", + "Grab the brown bottle and give it a shake.", + "Pick the dark brown bottle with a squared body up using the left arm and shake it.", + "Hold the smooth plastic bottle with white cap and shake it properly.", + "Hold the brown bottle with rounded rectangular shape, shake it briefly.", + "Lift the bottle with green cap with the left arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Secure the medium bottle with glossy surface and perform a shake.", + "Grab the bottle with green cap and move it to shake.", + "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.", + "Shake the dark brown bottle with a squared body after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with green cap with the left arm and shake it.", + "Grab and shake the medium-sized brown plastic bottle using the left arm.", + "Hold and shake the the bottle with green cap carefully.", + "Pick up the brown bottle with rounded rectangular shape and shake it well.", + "Grab the medium-sized brown plastic bottle firmly, shake it, and put it down.", + "Use the left arm to grab the smooth plastic bottle with white cap and shake it.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Utilize the left arm to hold the medium-sized brown plastic bottle and shake it.", + "Grasp the brown bottle with rounded rectangular shape with the left arm and shake it.", + "Grab the smooth plastic bottle with white cap using the left arm, then shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Take the dark brown bottle with a squared body using the left arm and give it a shake.", + "Lift the bottle with green cap and shake it gently.", + "Hold the brown bottle with the left arm and shake lightly.", + "Pick the rectangular brown body with white top and perform shaking motion.", + "Using the left arm, shake the medium bottle with glossy surface and then place it back.", + "Shake the plastic bottle after grabbing it.", + "Lift up the medium-sized brown plastic bottle using the left arm, then shake.", + "Hold the dark brown bottle with a squared body steady, then shake it.", + "Shake the the dark brown bottle with a squared body properly after lifting.", + "Use the left arm to lift and shake the rectangular brown body with white top.", + "Grip the smooth brown bottle with green label using the left arm and shake.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Shake the bottle with flat sides and logo firmly after grabbing.", + "Use the left arm to grab the rectangular brown body with white top and shake properly.", + "Shake the brown bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the smooth plastic bottle with white cap.", + "Pick up the smooth brown bottle with green label and shake it.", + "Grab the rectangular brown body with white top carefully and shake.", + "Pick the dark brown bottle with a squared body, shake it with the left arm.", + "Shake the bottle with green cap after holding it firmly.", + "Lift the brown bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the brown bottle.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Grab the brown bottle with rounded rectangular shape and shake it steadily.", + "Pick the bottle with flat sides and logo up with the left arm and shake.", + "Grab the rectangular-shaped bottle with round cap with the left arm and shake.", + "With the left arm, pick the bottle with flat sides and logo and shake properly.", + "Grab the medium-sized brown plastic bottle and give it a shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Hold the dark brown bottle with a squared body and shake it properly.", + "Hold the brown bottle with rounded rectangular shape, shake it briefly.", + "Lift the brown bottle with rounded rectangular shape with the left arm and shake.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Grab the medium-sized brown plastic bottle and move it to shake.", + "Secure the smooth brown bottle with green label, shake it, and place it down.", + "Shake the bottle with green cap after lifting it.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Lift the rectangular-shaped bottle with round cap with the left arm and shake it.", + "Grab and shake the smooth brown bottle with green label using the left arm.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Pick up the rectangular brown body with white top and shake it well.", + "Grab the medium bottle with glossy surface firmly, shake it, and put it down." + ], + "unseen": [ + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Use the left arm to pick the bottle with green label and white lid.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode87.json b/shake_bottle/ur5_randomized_500/instructions/episode87.json new file mode 100644 index 0000000000000000000000000000000000000000..6a756fc47aa4262ce3189be5d99ef0243179bbe9 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode87.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with white cap up with the right arm and shake.", + "Grip the yellow body bottle using the right arm and shake.", + "Lift the yellow body bottle with the right arm and shake it.", + "Grab and shake the bottle with white cap using the right arm.", + "Grab the yellow bottle with green label using the right arm, then shake.", + "Use the right arm to grab the handheld bottle and shake it.", + "Shake the rectangular bottle after grabbing it.", + "Catch the bottle for liquids and shake it instantly.", + "Using the right arm, shake the yellow bottle and then place it back.", + "Use the right arm to grab the yellow bottle with cylindrical cap and shake properly.", + "Grasp the bottle with white cap with the right arm and shake it.", + "Lift the rectangular bottle and shake it thoroughly.", + "Use the right arm to lift and shake the yellow bottle with flower design.", + "Secure the yellow bottle, shake it, and place it down.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the smooth yellow plastic bottle using the right arm after grabbing.", + "With the right arm, pick the bottle with white cap and shake properly.", + "Hold the bottle for liquids and shake it properly.", + "Lift the yellow body bottle and shake it gently.", + "Hold the bottle for liquids, shake it briefly.", + "Grab the smooth yellow plastic bottle with the right arm and shake.", + "Lift up the yellow body bottle using the right arm, then shake.", + "Shake the bottle with green and white label firmly after grabbing.", + "Pick the handheld bottle up using the right arm and shake it.", + "Grab the handheld bottle and move it to shake.", + "Hold the bottle for liquids with the right arm and shake lightly.", + "Lift the yellow bottle with the right arm and shake.", + "Grab the handheld bottle and shake it steadily.", + "Pick up the yellow bottle with green label and shake it well.", + "Secure the handheld bottle and perform a shake.", + "Shake the bottle for liquids after grabbing it.", + "Pick the yellow bottle with flower design and perform shaking motion.", + "Use the right arm to hold the bottle with green and white label and shake it.", + "Utilize the right arm to hold the yellow bottle with green label and shake it.", + "Hold the yellow bottle with green label steady, then shake it.", + "Lift the yellow body bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the the rectangular bottle properly after lifting.", + "Shake the bottle for liquids after holding it firmly.", + "Shake the yellow bottle after lifting it.", + "Hold and shake the the yellow bottle with green label carefully.", + "Take the yellow bottle with flower design using the right arm and give it a shake.", + "Grab the smooth yellow plastic bottle and give it a shake.", + "Grab the bottle with white cap firmly, shake it, and put it down.", + "Use the right arm to lift and shake the bottle with green and white label.", + "Shake the yellow body bottle thoroughly after grabbing it.", + "Pick up the yellow bottle and shake it.", + "Grab the yellow bottle with green label carefully and shake.", + "Shake the smooth yellow plastic bottle after grabbing it.", + "Use the right arm to pick and shake the plastic bottle.", + "Pick the smooth yellow plastic bottle up with the right arm and shake.", + "Grip the yellow bottle using the right arm and shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Grab and shake the bottle for liquids using the right arm.", + "Grab the handheld bottle using the right arm, then shake.", + "Use the right arm to grab the bottle with green and white label and shake it.", + "Shake the plastic bottle after grabbing it.", + "Catch the handheld bottle and shake it instantly.", + "Using the right arm, shake the bottle with white cap and then place it back.", + "Use the right arm to grab the yellow bottle with flower design and shake properly.", + "Grasp the yellow bottle with flower design with the right arm and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Use the right arm to lift and shake the yellow bottle with flower design.", + "Secure the yellow bottle with flower design, shake it, and place it down.", + "Pick the yellow bottle with cylindrical cap, shake it with the right arm.", + "Shake the bottle for liquids using the right arm after grabbing.", + "With the right arm, pick the yellow bottle with green label and shake properly.", + "Hold the bottle for liquids and shake it properly.", + "Lift the yellow body bottle and shake it gently.", + "Hold the smooth yellow plastic bottle, shake it briefly.", + "Grab the handheld bottle with the right arm and shake.", + "Lift up the yellow body bottle using the right arm, then shake.", + "Shake the yellow body bottle firmly after grabbing.", + "Pick the bottle with green and white label up using the right arm and shake it.", + "Grab the handheld bottle and move it to shake.", + "Hold the bottle with green and white label with the right arm and shake lightly.", + "Lift the bottle for liquids with the right arm and shake.", + "Grab the yellow bottle with cylindrical cap and shake it steadily.", + "Pick up the bottle with white cap and shake it well.", + "Secure the smooth yellow plastic bottle and perform a shake.", + "Shake the yellow bottle with green label after grabbing it.", + "Pick the rectangular bottle and perform shaking motion.", + "Use the right arm to hold the yellow body bottle and shake it.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Hold the bottle for liquids steady, then shake it.", + "Lift the yellow bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the rectangular bottle.", + "Shake the the handheld bottle properly after lifting.", + "Shake the bottle for liquids after holding it firmly.", + "Shake the bottle with green and white label after lifting it.", + "Hold and shake the the bottle with green and white label carefully.", + "Take the yellow bottle with cylindrical cap using the right arm and give it a shake.", + "Grab the smooth yellow plastic bottle and give it a shake.", + "Grab the yellow bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the yellow bottle with flower design.", + "Shake the yellow bottle with cylindrical cap thoroughly after grabbing it.", + "Pick up the yellow bottle with flower design and shake it.", + "Grab the plastic bottle carefully and shake.", + "Shake the bottle with green and white label after grabbing it.", + "Use the right arm to pick and shake the plastic bottle." + ], + "unseen": [ + "Grab the medium bottle, shake it properly, then set it down.", + "Grab the bottle with printed label and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the bottle with printed label and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the bottle with printed label after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Pick up the bottle with printed label with the right arm and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Grab the medium bottle and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Grab the medium bottle and shake it.", + "Pick up the medium bottle and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the bottle with printed label and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Grab the medium bottle and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the medium bottle and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the medium bottle with the right arm.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with rounded edges, shake it properly, then set it down.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with printed label and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the medium bottle and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with rounded edges.", + "Grab the bottle with printed label and give it a shake.", + "Grab the medium bottle, shake it properly, then set it down.", + "Grab the bottle with printed label and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with printed label with the right arm.", + "Pick up the bottle with rounded edges with the right arm and shake.", + "Pick up the bottle with rounded edges and shake it.", + "Use the right arm to grab the bottle with rounded edges and shake.", + "Shake the medium bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with printed label.", + "Grab the bottle with rounded edges and give it a shake.", + "Grab the bottle with printed label, shake it properly, then set it down.", + "Grab the bottle with rounded edges and shake it.", + "Pick up the bottle with rounded edges and shake it.", + "Pick and shake the the bottle with rounded edges with the right arm.", + "Pick up the medium bottle with the right arm and shake.", + "Pick up the bottle with printed label and shake it.", + "Use the right arm to grab the medium bottle and shake.", + "Shake the bottle with rounded edges after picking it with the right arm.", + "Use the right arm to pick the medium bottle.", + "Grab the bottle with printed label and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode88.json b/shake_bottle/ur5_randomized_500/instructions/episode88.json new file mode 100644 index 0000000000000000000000000000000000000000..ac162c962f783174d55114308a10d9253273f2d5 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode88.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the hand-sized soda bottle and shake it steadily.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Pick the long thin bottle up with the right arm and shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the narrow-necked bottle after holding it firmly.", + "Lift the Coca-Cola bottle and shake it gently.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Pick the long thin bottle up using the right arm and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Hold the bottle with white neck and red top and shake it properly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Hold the red-capped bottle steady, then shake it.", + "Pick up the brown bottle with red label and shake it.", + "Grab the plastic drink bottle and move it to shake.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Secure the red-capped bottle and perform a shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick up the medium dark brown bottle and shake it well.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Grab the plastic drink bottle carefully and shake.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Shake the the red-capped bottle properly after lifting.", + "Grab the smooth bottle with red lid and shake it steadily.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Use the right arm to lift and shake the red-capped bottle.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Hold and shake the the plastic drink bottle carefully.", + "Grab the long thin bottle with the right arm and shake.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Shake the medium dark brown bottle after lifting it.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Hold the medium dark brown bottle, shake it briefly.", + "Shake the medium dark brown bottle after holding it firmly.", + "Lift the red-capped bottle and shake it gently.", + "Use the right arm to hold the long thin bottle and shake it.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Hold the red-capped bottle and shake it properly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Hold the narrow-necked bottle steady, then shake it.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Grab the bottle with white neck and red top carefully and shake.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Take the red-capped bottle using the right arm and give it a shake." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode89.json b/shake_bottle/ur5_randomized_500/instructions/episode89.json new file mode 100644 index 0000000000000000000000000000000000000000..dd39feeea1f8cf1c0dc8b41af318e79d7278768e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode89.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld bottle and shake it properly.", + "Hold the blue bottle steady, then shake it.", + "Grab the blue bottle firmly, shake it, and put it down.", + "Shake the handheld bottle after grabbing it.", + "Grab the smooth plastic bottle and shake it steadily.", + "Use the right arm to lift and shake the medium bottle for beverages.", + "Lift the plastic bottle with the right arm and shake it.", + "Lift up the medium-sized bottle using the right arm, then shake.", + "Use the right arm to lift and shake the handheld bottle.", + "Grab and shake the plastic bottle using the right arm.", + "Shake the bottle for liquids firmly after grabbing.", + "Pick the cylindrical bottle and perform shaking motion.", + "Utilize the right arm to hold the blue bottle and shake it.", + "Lift the blue bottle and shake it gently.", + "Pick the white and blue bottle, shake it with the right arm.", + "Use the right arm to grab the cylindrical bottle and shake it.", + "Shake the handheld bottle after lifting it.", + "With the right arm, pick the bottle for liquids and shake properly.", + "Grab the cylindrical bottle with the right arm and shake.", + "Shake the cylindrical bottle after grabbing it.", + "Grab the medium-sized bottle and move it to shake.", + "Lift the smooth plastic bottle and shake it thoroughly.", + "Lift the cylindrical bottle with the right arm and shake.", + "Secure the blue bottle and perform a shake.", + "Grip the blue bottle with label using the right arm and shake.", + "Take the plastic bottle using the right arm and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Pick up the handheld bottle and shake it.", + "Use the right arm to hold the bottle with blue cap and shake it.", + "Shake the bottle for liquids after holding it firmly.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Use the right arm to grab the bottle with blue cap and shake properly.", + "Use the right arm to pick and shake the white and blue bottle.", + "Using the right arm, shake the blue bottle and then place it back.", + "Pick up the plastic bottle and shake it well.", + "Hold the blue bottle with the right arm and shake lightly.", + "Shake the smooth plastic bottle after grabbing it.", + "Use the right arm to lift and shake the medium-sized bottle.", + "Grab the bottle for liquids and give it a shake.", + "Grab the smooth plastic bottle using the right arm, then shake.", + "Shake the the bottle for liquids properly after lifting.", + "Hold the white bottle with blue accents, shake it briefly.", + "Lift the white and blue bottle with the right arm and give it a shake.", + "Pick the bottle for liquids up using the right arm and shake it.", + "Shake the bottle for liquids thoroughly after grabbing it.", + "Hold and shake the the blue bottle carefully.", + "Catch the cylindrical bottle and shake it instantly.", + "Pick the bottle for liquids up with the right arm and shake.", + "Grasp the cylindrical bottle with the right arm and shake it.", + "Secure the bottle with blue cap, shake it, and place it down.", + "Hold the medium bottle for beverages and shake it properly.", + "Hold the medium-sized bottle steady, then shake it.", + "Grab the cylindrical bottle firmly, shake it, and put it down.", + "Shake the white bottle with blue accents after grabbing it.", + "Grab the bottle with blue cap and shake it steadily.", + "Use the right arm to lift and shake the white and blue bottle.", + "Lift the blue bottle with label with the right arm and shake it.", + "Lift up the cylindrical bottle using the right arm, then shake.", + "Use the right arm to lift and shake the handheld bottle.", + "Grab and shake the medium-sized bottle using the right arm.", + "Shake the medium bottle for beverages firmly after grabbing.", + "Pick the white bottle with blue accents and perform shaking motion.", + "Utilize the right arm to hold the white and blue bottle and shake it.", + "Lift the cylindrical bottle and shake it gently.", + "Pick the bottle for liquids, shake it with the right arm.", + "Use the right arm to grab the bottle with blue cap and shake it.", + "Shake the white bottle with blue accents after lifting it.", + "With the right arm, pick the cylindrical bottle and shake properly.", + "Grab the blue bottle with label with the right arm and shake.", + "Shake the blue bottle with label after grabbing it.", + "Grab the handheld bottle and move it to shake.", + "Lift the blue bottle and shake it thoroughly.", + "Lift the medium bottle for beverages with the right arm and shake.", + "Secure the blue bottle and perform a shake.", + "Grip the blue bottle with label using the right arm and shake.", + "Take the plastic bottle using the right arm and give it a shake.", + "Grab the white and blue bottle carefully and shake.", + "Pick up the plastic bottle and shake it.", + "Use the right arm to hold the smooth plastic bottle and shake it.", + "Shake the medium-sized bottle after holding it firmly.", + "Shake the bottle for liquids using the right arm after grabbing.", + "Use the right arm to grab the handheld bottle and shake properly.", + "Use the right arm to pick and shake the handheld bottle.", + "Using the right arm, shake the bottle with blue cap and then place it back.", + "Pick up the medium bottle for beverages and shake it well.", + "Hold the white and blue bottle with the right arm and shake lightly.", + "Shake the cylindrical bottle after grabbing it.", + "Use the right arm to lift and shake the blue bottle with label.", + "Grab the blue bottle and give it a shake.", + "Grab the cylindrical bottle using the right arm, then shake.", + "Shake the the bottle with blue cap properly after lifting.", + "Hold the medium-sized bottle, shake it briefly.", + "Lift the blue bottle with label with the right arm and give it a shake.", + "Pick the blue bottle up using the right arm and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold and shake the the white bottle with blue accents carefully.", + "Catch the medium-sized bottle and shake it instantly.", + "Pick the medium bottle for beverages up with the right arm and shake.", + "Grasp the bottle with blue cap with the right arm and shake it.", + "Secure the white bottle with blue accents, shake it, and place it down." + ], + "unseen": [ + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the bottle with ridged neck and give it a shake.", + "Use the right arm to grab the bottle with ridged neck and shake.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with curved neck design with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with curved neck design and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the bottle with ridged neck.", + "Pick and shake the the blue-capped plastic bottle with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with curved neck design and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the blue-capped plastic bottle with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with ridged neck with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Use the right arm to grab the bottle with curved neck design and shake.", + "Use the right arm to pick the blue-capped plastic bottle.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the bottle with ridged neck and shake it.", + "Pick up the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the right arm.", + "Pick up the bottle with ridged neck with the right arm and shake.", + "Grab the bottle with curved neck design and give it a shake.", + "Use the right arm to grab the blue-capped plastic bottle and shake.", + "Use the right arm to pick the bottle with curved neck design.", + "Pick and shake the the bottle with curved neck design with the right arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Pick up the blue-capped plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode9.json b/shake_bottle/ur5_randomized_500/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..7871b4799e2087033b34670c51225fdfc830e0af --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the plastic bottle with ghost print using the left arm, then shake.", + "Grab the medium cylinder-shaped bottle carefully and shake.", + "Hold the smooth cylindrical bottle steady, then shake it.", + "Lift the plastic bottle with ghost print with the left arm and give it a shake.", + "Shake the medium-sized plastic bottle after lifting it.", + "Pick up the smooth cylindrical bottle and shake it well.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Grab the medium cylinder-shaped bottle using the left arm, then shake.", + "Grab the light gray colored container bottle and shake it steadily.", + "Secure the bottle with cute ghost drawing, shake it, and place it down.", + "Shake the bottle with cute ghost drawing after holding it firmly.", + "Shake the light gray colored container bottle after grabbing it.", + "Shake the smooth cylindrical bottle using the left arm after grabbing.", + "Pick the bottle shaped like small cylinder, shake it with the left arm.", + "Grab the gray bottle with slight shine with the left arm and shake.", + "Take the smooth surface bottle with gray shade using the left arm and give it a shake.", + "Shake the medium-sized plastic bottle firmly after grabbing.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Hold and shake the the plastic bottle with ghost print carefully.", + "Grasp the bottle with cute ghost drawing with the left arm and shake it.", + "Shake the smooth cylindrical bottle after grabbing it.", + "Hold the medium-sized plastic bottle and shake it properly.", + "Lift the bottle with cute ghost drawing and shake it gently.", + "Lift the milk-bottle shape design and shake it thoroughly.", + "Hold the smooth cylindrical bottle with the left arm and shake lightly.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Lift the light gray colored container bottle with the left arm and shake it.", + "Grip the rounded body bottle made of plastic using the left arm and shake.", + "Use the left arm to pick and shake the plastic bottle with ghost print.", + "Pick the smooth surface bottle with gray shade up using the left arm and shake it.", + "Use the left arm to grab the light gray colored container bottle and shake properly.", + "Shake the the light gray colored container bottle properly after lifting.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Grab the plastic bottle with ghost print and give it a shake.", + "Pick the smooth cylindrical bottle and perform shaking motion.", + "With the left arm, pick the plastic bottle with ghost print and shake properly.", + "Hold the medium-sized plastic bottle, shake it briefly.", + "Using the left arm, shake the plastic bottle with ghost print and then place it back.", + "Utilize the left arm to hold the smooth surface bottle with gray shade and shake it.", + "Lift the smooth cylindrical bottle with the left arm and shake.", + "Grab and shake the milk-bottle shape design using the left arm.", + "Grab the bottle shaped like small cylinder and move it to shake.", + "Use the left arm to hold the medium-sized plastic bottle and shake it.", + "Pick the bottle shaped like small cylinder up with the left arm and shake.", + "Grab the smooth cylindrical bottle firmly, shake it, and put it down.", + "Secure the smooth cylindrical bottle and perform a shake.", + "Use the left arm to grab the gray bottle with slight shine and shake it.", + "Lift up the plastic bottle with ghost print using the left arm, then shake.", + "Grab the medium cylinder-shaped bottle carefully and shake.", + "Hold the light gray colored container bottle steady, then shake it.", + "Lift the medium-sized plastic bottle with the left arm and give it a shake.", + "Shake the gray bottle with slight shine after lifting it.", + "Pick up the light gray colored container bottle and shake it well.", + "Shake the rounded body bottle made of plastic thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth cylindrical bottle.", + "Shake the smooth cylindrical bottle after grabbing it.", + "Grab the smooth cylindrical bottle using the left arm, then shake.", + "Grab the hand-sized bottle with screw cap and shake it steadily.", + "Secure the smooth surface bottle with gray shade, shake it, and place it down.", + "Shake the hand-sized bottle with screw cap after holding it firmly.", + "Shake the rounded body bottle made of plastic after grabbing it.", + "Shake the smooth surface bottle with gray shade using the left arm after grabbing.", + "Pick the medium cylinder-shaped bottle, shake it with the left arm.", + "Grab the smooth cylindrical bottle with the left arm and shake.", + "Take the medium cylinder-shaped bottle using the left arm and give it a shake.", + "Shake the bottle shaped like small cylinder firmly after grabbing.", + "Use the left arm to lift and shake the smooth surface bottle with gray shade.", + "Hold and shake the the bottle with cute ghost drawing carefully.", + "Grasp the medium-sized plastic bottle with the left arm and shake it.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Hold the milk-bottle shape design and shake it properly.", + "Lift the plastic bottle with ghost print and shake it gently.", + "Lift the smooth cylindrical bottle and shake it thoroughly.", + "Hold the milk-bottle shape design with the left arm and shake lightly.", + "Pick up the smooth surface bottle with gray shade and shake it.", + "Catch the bottle shaped like small cylinder and shake it instantly.", + "Lift the rounded body bottle made of plastic with the left arm and shake it.", + "Grip the smooth cylindrical bottle using the left arm and shake.", + "Use the left arm to pick and shake the plastic bottle with ghost print.", + "Pick the bottle shaped like small cylinder up using the left arm and shake it.", + "Use the left arm to grab the smooth cylindrical bottle and shake properly.", + "Shake the the bottle shaped like small cylinder properly after lifting.", + "Use the left arm to lift and shake the smooth cylindrical bottle.", + "Grab the smooth surface bottle with gray shade and give it a shake.", + "Pick the hand-sized bottle with screw cap and perform shaking motion.", + "With the left arm, pick the plastic bottle with ghost print and shake properly.", + "Hold the bottle with cute ghost drawing, shake it briefly.", + "Using the left arm, shake the hand-sized bottle with screw cap and then place it back.", + "Utilize the left arm to hold the bottle with cute ghost drawing and shake it.", + "Lift the smooth surface bottle with gray shade with the left arm and shake.", + "Grab and shake the gray bottle with slight shine using the left arm.", + "Grab the plastic bottle with ghost print and move it to shake.", + "Use the left arm to hold the medium-sized plastic bottle and shake it.", + "Pick the smooth surface bottle with gray shade up with the left arm and shake.", + "Grab the smooth cylindrical bottle firmly, shake it, and put it down.", + "Secure the medium cylinder-shaped bottle and perform a shake.", + "Use the left arm to grab the milk-bottle shape design and shake it." + ], + "unseen": [ + "Grab the light gray bottle and give it a shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Use the left arm to pick the light gray bottle.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the light gray bottle and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Use the left arm to pick the light gray bottle.", + "Grab the light gray bottle and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Use the left arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the light gray bottle and give it a shake.", + "Use the left arm to grab the light gray bottle and shake.", + "Use the left arm to pick the bottle with rounded cap top.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the light gray bottle and shake it.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Use the left arm to pick the light gray bottle.", + "Grab the light gray bottle and shake it.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Grab the bottle with rounded cap top and give it a shake.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Use the left arm to pick the light gray bottle.", + "Grab the bottle with rounded cap top and shake it.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Grab the gray bottle for holding drinks and shake it.", + "Pick up the light gray bottle with the left arm and shake.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Pick up the gray bottle for holding drinks and shake it.", + "Grab the bottle with rounded cap top, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode90.json b/shake_bottle/ur5_randomized_500/instructions/episode90.json new file mode 100644 index 0000000000000000000000000000000000000000..486386f367de341633c915c1f43c4ea2ae352e76 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode90.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, pick the orange drink bottle with label and shake properly.", + "Use the left arm to lift and shake the smooth orange bottle.", + "Utilize the left arm to hold the orange drink bottle with label and shake it.", + "Shake the round-bottom bottle with white cap after holding it firmly.", + "Lift the orange bottle and shake it gently.", + "Pick the cylindrical orange plastic bottle up with the left arm and shake.", + "Use the left arm to grab the ridged orange bottle with grooves and shake it.", + "Use the left arm to grab the orange drink bottle with label and shake properly.", + "Lift the smooth orange bottle with the left arm and shake it.", + "Lift the orange bottle with the left arm and shake.", + "Shake the round-bottom bottle with white cap firmly after grabbing.", + "Lift up the bottle for holding drinks using the left arm, then shake.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Use the left arm to lift and shake the ridged orange bottle with grooves.", + "Shake the medium bottle with colorful label after grabbing it.", + "Hold the curved orange soda bottle and shake it properly.", + "Shake the the smooth orange bottle properly after lifting.", + "Use the left arm to hold the cylindrical orange plastic bottle and shake it.", + "Hold the ridged orange bottle with grooves steady, then shake it.", + "Secure the cylindrical orange plastic bottle, shake it, and place it down.", + "Pick up the ridged orange bottle with grooves and shake it.", + "Using the left arm, shake the grooved orange drink bottle and then place it back.", + "Pick up the grooved orange drink bottle and shake it well.", + "Hold the orange bottle, shake it briefly.", + "Grab the cylindrical orange plastic bottle using the left arm, then shake.", + "Take the orange bottle using the left arm and give it a shake.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Grab and shake the medium bottle with colorful label using the left arm.", + "Use the left arm to pick and shake the smooth orange bottle.", + "Shake the ridged orange bottle with grooves after grabbing it.", + "Grab the smooth orange bottle and give it a shake.", + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Grab the bottle for holding drinks and shake it steadily.", + "Use the left arm to lift and shake the light and medium-sized bottle.", + "Hold the orange drink bottle with label with the left arm and shake lightly.", + "Grab the smooth orange bottle firmly, shake it, and put it down.", + "Shake the round-bottom bottle with white cap after grabbing it.", + "Shake the grooved orange drink bottle thoroughly after grabbing it.", + "Pick the orange bottle up using the left arm and shake it.", + "Grab the plastic bottle with the left arm and shake.", + "Lift the smooth orange bottle and shake it thoroughly.", + "Shake the smooth orange bottle after lifting it.", + "Grasp the light and medium-sized bottle with the left arm and shake it.", + "Pick the bottle for holding drinks, shake it with the left arm.", + "Hold and shake the the curved orange soda bottle carefully.", + "Shake the curved orange soda bottle using the left arm after grabbing.", + "Pick the grooved orange drink bottle and perform shaking motion.", + "Catch the bottle for holding drinks and shake it instantly.", + "Grip the orange drink bottle with label using the left arm and shake.", + "Lift the orange drink bottle with label with the left arm and give it a shake.", + "With the left arm, pick the smooth orange bottle and shake properly.", + "Use the left arm to lift and shake the cylindrical orange plastic bottle.", + "Utilize the left arm to hold the light and medium-sized bottle and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Lift the ridged orange bottle with grooves and shake it gently.", + "Pick the medium bottle with colorful label up with the left arm and shake.", + "Use the left arm to grab the smooth orange bottle and shake it.", + "Use the left arm to grab the grooved orange drink bottle and shake properly.", + "Lift the round-bottom bottle with white cap with the left arm and shake it.", + "Lift the orange bottle with the left arm and shake.", + "Shake the orange drink bottle with label firmly after grabbing.", + "Lift up the orange drink bottle with label using the left arm, then shake.", + "Secure the cylindrical orange plastic bottle and perform a shake.", + "Use the left arm to lift and shake the curved orange soda bottle.", + "Shake the orange bottle after grabbing it.", + "Hold the round-bottom bottle with white cap and shake it properly.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to hold the orange bottle and shake it.", + "Hold the medium bottle with colorful label steady, then shake it.", + "Secure the bottle for holding drinks, shake it, and place it down.", + "Pick up the cylindrical orange plastic bottle and shake it.", + "Using the left arm, shake the ridged orange bottle with grooves and then place it back.", + "Pick up the medium bottle with colorful label and shake it well.", + "Hold the cylindrical orange plastic bottle, shake it briefly.", + "Grab the orange bottle using the left arm, then shake.", + "Take the ridged orange bottle with grooves using the left arm and give it a shake.", + "Grab the cylindrical orange plastic bottle and move it to shake.", + "Grab and shake the cylindrical orange plastic bottle using the left arm.", + "Use the left arm to pick and shake the round-bottom bottle with white cap.", + "Shake the light and medium-sized bottle after grabbing it.", + "Grab the orange bottle and give it a shake.", + "Grab the cylindrical orange plastic bottle carefully and shake.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the orange drink bottle with label.", + "Hold the curved orange soda bottle with the left arm and shake lightly.", + "Grab the bottle for holding drinks firmly, shake it, and put it down.", + "Shake the curved orange soda bottle after grabbing it.", + "Shake the smooth orange bottle thoroughly after grabbing it.", + "Pick the cylindrical orange plastic bottle up using the left arm and shake it.", + "Grab the orange drink bottle with label with the left arm and shake.", + "Lift the round-bottom bottle with white cap and shake it thoroughly.", + "Shake the bottle for holding drinks after lifting it.", + "Grasp the round-bottom bottle with white cap with the left arm and shake it.", + "Pick the cylindrical orange plastic bottle, shake it with the left arm.", + "Hold and shake the the light and medium-sized bottle carefully.", + "Shake the smooth orange bottle using the left arm after grabbing.", + "Pick the light and medium-sized bottle and perform shaking motion.", + "Catch the ridged orange bottle with grooves and shake it instantly.", + "Grip the grooved orange drink bottle using the left arm and shake.", + "Lift the medium bottle with colorful label with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the bottle with white cap and give it a shake.", + "Pick up the white capped orange plastic bottle with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the white capped orange plastic bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Use the left arm to grab the bottle with ridged orange grip and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the bottle with ridged orange grip and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the white capped orange plastic bottle.", + "Use the left arm to grab the white capped orange plastic bottle and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the white capped orange plastic bottle and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with ridged orange grip with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with white cap.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with ridged orange grip with the left arm.", + "Grab the bottle with ridged orange grip and shake it.", + "Pick up the bottle with ridged orange grip and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with ridged orange grip after picking it with the left arm.", + "Grab the bottle with ridged orange grip, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the bottle with white cap with the left arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Pick up the bottle with white cap and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the white capped orange plastic bottle after picking it with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the bottle with white cap and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Pick up the white capped orange plastic bottle and shake it.", + "Grab the white capped orange plastic bottle and give it a shake.", + "Pick up the bottle with white cap with the left arm and shake.", + "Shake the bottle with white cap after picking it with the left arm.", + "Grab the bottle with white cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with ridged orange grip.", + "Use the left arm to grab the bottle with white cap and shake.", + "Pick and shake the the white capped orange plastic bottle with the left arm.", + "Grab the white capped orange plastic bottle and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode91.json b/shake_bottle/ur5_randomized_500/instructions/episode91.json new file mode 100644 index 0000000000000000000000000000000000000000..7a832ae8551750adf051c650535d9b1bf6351d9e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode91.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the medium bottle with yellow cap, shake it with the left arm.", + "Shake the smooth black bottle with ridges using the left arm after grabbing.", + "Lift the medium bottle with yellow cap with the left arm and shake.", + "Take the medium black bottle with printed label using the left arm and give it a shake.", + "Grab the black bottle using the left arm, then shake.", + "Shake the bottle with blue and yellow print after lifting it.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Secure the black bottle, shake it, and place it down.", + "Pick the bottle with blue and yellow print and perform shaking motion.", + "Lift the medium bottle with yellow cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Grab the black bottle and shake it steadily.", + "Secure the drink bottle with rounded yellow lid and perform a shake.", + "Pick the black plastic bottle with Pepsi logo up using the left arm and shake it.", + "Use the left arm to grab the medium bottle with yellow cap and shake properly.", + "Grab the medium bottle with yellow cap firmly, shake it, and put it down.", + "Hold the smooth black bottle with ridges, shake it briefly.", + "Lift the smooth black bottle with ridges and shake it thoroughly.", + "Grasp the bottle with blue and yellow print with the left arm and shake it.", + "Grab the black cylindrical bottle with ridges carefully and shake.", + "Catch the black cylindrical bottle with ridges and shake it instantly.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Lift up the black cylindrical bottle with ridges using the left arm, then shake.", + "Lift the bottle with blue and yellow print and shake it gently.", + "Use the left arm to pick and shake the black bottle.", + "Hold the bottle with blue and yellow print with the left arm and shake lightly.", + "Pick up the yellow capped drink bottle and shake it.", + "Use the left arm to lift and shake the smooth black bottle with ridges.", + "Pick up the black bottle and shake it well.", + "Hold and shake the the black plastic bottle with Pepsi logo carefully.", + "Shake the yellow capped drink bottle after holding it firmly.", + "Utilize the left arm to hold the plastic bottle with colorful label and shake it.", + "Grip the beverage bottle with black body using the left arm and shake.", + "Lift the bottle with blue and yellow print with the left arm and shake it.", + "Using the left arm, shake the plastic bottle with colorful label and then place it back.", + "Use the left arm to hold the beverage bottle with black body and shake it.", + "Shake the the black plastic bottle with Pepsi logo properly after lifting.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Grab the bottle with blue and yellow print and give it a shake.", + "Shake the yellow-capped cylindrical bottle after grabbing it.", + "Grab the medium bottle with yellow cap with the left arm and shake.", + "Use the left arm to grab the yellow-capped cylindrical bottle and shake it.", + "With the left arm, pick the medium black bottle with printed label and shake properly.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Pick the plastic bottle with colorful label up with the left arm and shake.", + "Shake the plastic bottle with colorful label thoroughly after grabbing it.", + "Grab and shake the yellow-capped cylindrical bottle using the left arm.", + "Grab the black bottle and move it to shake.", + "Hold the medium bottle with yellow cap steady, then shake it.", + "Shake the medium black bottle with printed label after grabbing it.", + "Pick the bottle with blue and yellow print, shake it with the left arm.", + "Shake the plastic bottle with colorful label using the left arm after grabbing.", + "Lift the drink bottle with rounded yellow lid with the left arm and shake.", + "Take the black cylindrical bottle with ridges using the left arm and give it a shake.", + "Grab the black cylindrical bottle with ridges using the left arm, then shake.", + "Shake the yellow-capped cylindrical bottle after lifting it.", + "Hold the smooth black bottle with ridges and shake it properly.", + "Secure the black bottle, shake it, and place it down.", + "Pick the black plastic bottle with Pepsi logo and perform shaking motion.", + "Lift the black cylindrical bottle with ridges with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium black bottle with printed label.", + "Grab the yellow capped drink bottle and shake it steadily.", + "Secure the black cylindrical bottle with ridges and perform a shake.", + "Pick the medium black bottle with printed label up using the left arm and shake it.", + "Use the left arm to grab the yellow capped drink bottle and shake properly.", + "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.", + "Hold the medium black bottle with printed label, shake it briefly.", + "Lift the black plastic bottle with Pepsi logo and shake it thoroughly.", + "Grasp the black cylindrical bottle with ridges with the left arm and shake it.", + "Grab the medium bottle with yellow cap carefully and shake.", + "Catch the plastic bottle with colorful label and shake it instantly.", + "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.", + "Lift up the yellow capped drink bottle using the left arm, then shake.", + "Lift the smooth black bottle with ridges and shake it gently.", + "Use the left arm to pick and shake the black cylindrical bottle with ridges.", + "Hold the black bottle with the left arm and shake lightly.", + "Pick up the black bottle and shake it.", + "Use the left arm to lift and shake the yellow-capped cylindrical bottle.", + "Pick up the black cylindrical bottle with ridges and shake it well.", + "Hold and shake the the drink bottle with rounded yellow lid carefully.", + "Shake the medium bottle with yellow cap after holding it firmly.", + "Utilize the left arm to hold the beverage bottle with black body and shake it.", + "Grip the smooth black bottle with ridges using the left arm and shake.", + "Lift the smooth black bottle with ridges with the left arm and shake it.", + "Using the left arm, shake the black bottle and then place it back.", + "Use the left arm to hold the yellow capped drink bottle and shake it.", + "Shake the the bottle with blue and yellow print properly after lifting.", + "Shake the yellow capped drink bottle after grabbing it.", + "Grab the black bottle and give it a shake.", + "Shake the black bottle after grabbing it.", + "Grab the black cylindrical bottle with ridges with the left arm and shake.", + "Use the left arm to grab the medium bottle with yellow cap and shake it.", + "With the left arm, pick the medium bottle with yellow cap and shake properly.", + "Shake the plastic bottle with colorful label firmly after grabbing.", + "Pick the black cylindrical bottle with ridges up with the left arm and shake.", + "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.", + "Grab and shake the smooth black bottle with ridges using the left arm.", + "Grab the black plastic bottle with Pepsi logo and move it to shake.", + "Hold the beverage bottle with black body steady, then shake it.", + "Shake the black bottle after grabbing it." + ], + "unseen": [ + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the bottle with ridges near base with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake.", + "Pick and shake the the plastic bottle with blue label with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the bottle with ridges near base and shake it.", + "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the plastic bottle with blue label, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the plastic bottle with blue label.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the plastic bottle with blue label and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.", + "Grab the hand-sized bottle with ridged bottom and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the hand-sized bottle with ridged bottom and give it a shake.", + "Pick up the bottle with ridges near base with the left arm and shake.", + "Pick up the hand-sized bottle with ridged bottom and shake it.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it.", + "Grab the bottle with ridges near base, shake it properly, then set it down.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to grab the plastic bottle with blue label and shake.", + "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Pick up the plastic bottle with blue label with the left arm and shake.", + "Pick up the plastic bottle with blue label and shake it.", + "Use the left arm to pick the bottle with ridges near base.", + "Shake the plastic bottle with blue label after picking it with the left arm.", + "Grab the plastic bottle with blue label and shake it." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode92.json b/shake_bottle/ur5_randomized_500/instructions/episode92.json new file mode 100644 index 0000000000000000000000000000000000000000..c84ff9857e8138febbc54166d072d1ac2131ba1c --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode92.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with flat sides and logo and shake it steadily.", + "Lift the medium bottle with glossy surface with the left arm and shake.", + "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Shake the bottle with green cap after holding it firmly.", + "Shake the rectangular brown body with white top after grabbing it.", + "Hold the smooth brown bottle with green label and shake it properly.", + "Hold the brown bottle with the left arm and shake lightly.", + "Pick the medium-sized brown plastic bottle, shake it with the left arm.", + "Grab the bottle with green cap carefully and shake.", + "Shake the the plastic bottle properly after lifting.", + "Pick up the medium-sized brown plastic bottle and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the bottle with green cap and shake it gently.", + "Lift the smooth brown bottle with green label with the left arm and give it a shake.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Shake the medium bottle with glossy surface using the left arm after grabbing.", + "Grab the brown bottle and give it a shake.", + "Grip the bottle with flat sides and logo using the left arm and shake.", + "Shake the bottle with green cap firmly after grabbing.", + "Shake the dark brown bottle with a squared body after grabbing it.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Grasp the smooth plastic bottle with white cap with the left arm and shake it.", + "Pick up the brown bottle with rounded rectangular shape and shake it well.", + "Use the left arm to lift and shake the bottle with flat sides and logo.", + "Use the left arm to pick and shake the brown bottle with rounded rectangular shape.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the brown bottle with rounded rectangular shape using the left arm, then shake.", + "Lift up the brown bottle with rounded rectangular shape using the left arm, then shake.", + "Utilize the left arm to hold the bottle with green cap and shake it.", + "Take the medium bottle with glossy surface using the left arm and give it a shake.", + "Use the left arm to grab the rectangular-shaped bottle with round cap and shake properly.", + "Grab the dark brown bottle with a squared body with the left arm and shake.", + "Grab and shake the medium bottle with glossy surface using the left arm.", + "Shake the medium-sized brown plastic bottle after lifting it.", + "Hold the medium-sized brown plastic bottle steady, then shake it.", + "Secure the bottle with flat sides and logo and perform a shake.", + "Using the left arm, shake the smooth brown bottle with green label and then place it back.", + "Pick the smooth plastic bottle with white cap and perform shaking motion.", + "Hold and shake the the brown bottle carefully.", + "Use the left arm to grab the bottle with green cap and shake it.", + "Lift the dark brown bottle with a squared body with the left arm and shake it.", + "Grab the medium bottle with glossy surface and move it to shake.", + "Hold the smooth plastic bottle with white cap, shake it briefly.", + "Pick the bottle with green cap up using the left arm and shake it.", + "Use the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Pick the brown bottle with rounded rectangular shape up with the left arm and shake.", + "Catch the brown bottle and shake it instantly.", + "Secure the medium-sized brown plastic bottle, shake it, and place it down.", + "Grab the bottle with flat sides and logo firmly, shake it, and put it down.", + "Grab the plastic bottle and shake it steadily.", + "Lift the rectangular brown body with white top with the left arm and shake.", + "Shake the rectangular-shaped bottle with round cap thoroughly after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the brown bottle with rounded rectangular shape after holding it firmly.", + "Shake the brown bottle with rounded rectangular shape after grabbing it.", + "Hold the bottle with flat sides and logo and shake it properly.", + "Hold the rectangular-shaped bottle with round cap with the left arm and shake lightly.", + "Pick the smooth plastic bottle with white cap, shake it with the left arm.", + "Grab the rectangular brown body with white top carefully and shake.", + "Shake the the brown bottle with rounded rectangular shape properly after lifting.", + "Pick up the smooth brown bottle with green label and shake it.", + "Lift the rectangular-shaped bottle with round cap and shake it thoroughly.", + "Lift the bottle with flat sides and logo and shake it gently.", + "Lift the medium-sized brown plastic bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.", + "Shake the medium-sized brown plastic bottle using the left arm after grabbing.", + "Grab the bottle with green cap and give it a shake.", + "Grip the medium-sized brown plastic bottle using the left arm and shake.", + "Shake the medium bottle with glossy surface firmly after grabbing.", + "Shake the medium-sized brown plastic bottle after grabbing it.", + "Shake the rectangular brown body with white top after grabbing it.", + "Grasp the smooth brown bottle with green label with the left arm and shake it.", + "Pick up the rectangular brown body with white top and shake it well.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Use the left arm to pick and shake the plastic bottle.", + "With the left arm, pick the dark brown bottle with a squared body and shake properly.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift up the brown bottle using the left arm, then shake.", + "Utilize the left arm to hold the rectangular-shaped bottle with round cap and shake it.", + "Take the medium-sized brown plastic bottle using the left arm and give it a shake.", + "Use the left arm to grab the bottle with flat sides and logo and shake properly.", + "Grab the plastic bottle with the left arm and shake.", + "Grab and shake the rectangular-shaped bottle with round cap using the left arm.", + "Shake the rectangular-shaped bottle with round cap after lifting it.", + "Hold the plastic bottle steady, then shake it.", + "Secure the dark brown bottle with a squared body and perform a shake.", + "Using the left arm, shake the bottle with green cap and then place it back.", + "Pick the bottle with green cap and perform shaking motion.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Use the left arm to grab the dark brown bottle with a squared body and shake it.", + "Lift the bottle with green cap with the left arm and shake it.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "Hold the medium-sized brown plastic bottle, shake it briefly.", + "Pick the medium-sized brown plastic bottle up using the left arm and shake it.", + "Use the left arm to hold the brown bottle with rounded rectangular shape and shake it.", + "Pick the brown bottle with rounded rectangular shape up with the left arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the bottle with green cap firmly, shake it, and put it down." + ], + "unseen": [ + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the bottle with green label and white lid and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Pick up the bottle with green label and white lid and shake it.", + "Grab the liquid container dark brown plastic and shake it.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the bottle with green label and white lid and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Pick up the liquid container dark brown plastic and shake it.", + "Grab the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode93.json b/shake_bottle/ur5_randomized_500/instructions/episode93.json new file mode 100644 index 0000000000000000000000000000000000000000..c609e530a6e60715a6cf535c8e251a22ea4a866b --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode93.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic bottle, shake it briefly.", + "Lift the bottle with blue cap with the left arm and shake it.", + "Pick the cylindrical bottle up using the left arm and shake it.", + "Use the left arm to grab the white and blue bottle and shake it.", + "Pick the bottle with blue cap, shake it with the left arm.", + "Grab and shake the handheld bottle using the left arm.", + "Lift the plastic bottle with the left arm and shake.", + "Lift the medium bottle for beverages with the left arm and give it a shake.", + "Shake the blue bottle after grabbing it.", + "Use the left arm to grab the cylindrical bottle and shake properly.", + "Shake the plastic bottle firmly after grabbing.", + "Using the left arm, shake the blue bottle with label and then place it back.", + "Take the bottle with blue cap using the left arm and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Grab the cylindrical bottle using the left arm, then shake.", + "Grab the blue bottle and give it a shake.", + "Shake the smooth plastic bottle after grabbing it.", + "With the left arm, pick the handheld bottle and shake properly.", + "Hold the bottle with blue cap steady, then shake it.", + "Shake the handheld bottle thoroughly after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Lift the medium bottle for beverages and shake it gently.", + "Use the left arm to hold the white and blue bottle and shake it.", + "Grab the blue bottle with label carefully and shake.", + "Use the left arm to pick and shake the blue bottle with label.", + "Grab the white and blue bottle and shake it steadily.", + "Secure the medium-sized bottle, shake it, and place it down.", + "Grasp the handheld bottle with the left arm and shake it.", + "Grab the cylindrical bottle with the left arm and shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Use the left arm to lift and shake the cylindrical bottle.", + "Hold the blue bottle with label with the left arm and shake lightly.", + "Pick the bottle with blue cap and perform shaking motion.", + "Secure the blue bottle and perform a shake.", + "Utilize the left arm to hold the bottle with blue cap and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Pick the white and blue bottle up with the left arm and shake.", + "Pick up the cylindrical bottle and shake it well.", + "Shake the cylindrical bottle after grabbing it.", + "Use the left arm to lift and shake the medium bottle for beverages.", + "Catch the bottle for liquids and shake it instantly.", + "Hold the handheld bottle and shake it properly.", + "Lift up the blue bottle with label using the left arm, then shake.", + "Grip the blue bottle with label using the left arm and shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the blue bottle after holding it firmly.", + "Shake the the blue bottle with label properly after lifting.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick up the white bottle with blue accents and shake it.", + "Hold the blue bottle, shake it briefly.", + "Lift the medium-sized bottle with the left arm and shake it.", + "Pick the handheld bottle up using the left arm and shake it.", + "Use the left arm to grab the bottle for liquids and shake it.", + "Pick the blue bottle with label, shake it with the left arm.", + "Grab and shake the smooth plastic bottle using the left arm.", + "Lift the bottle with blue cap with the left arm and shake.", + "Lift the cylindrical bottle with the left arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the handheld bottle and shake properly.", + "Shake the blue bottle with label firmly after grabbing.", + "Using the left arm, shake the medium-sized bottle and then place it back.", + "Take the handheld bottle using the left arm and give it a shake.", + "Shake the white bottle with blue accents after lifting it.", + "Grab the blue bottle with label using the left arm, then shake.", + "Grab the handheld bottle and give it a shake.", + "Shake the white and blue bottle after grabbing it.", + "With the left arm, pick the white bottle with blue accents and shake properly.", + "Hold the medium-sized bottle steady, then shake it.", + "Shake the medium-sized bottle thoroughly after grabbing it.", + "Lift the medium-sized bottle and shake it thoroughly.", + "Grab the blue bottle with label firmly, shake it, and put it down.", + "Lift the white bottle with blue accents and shake it gently.", + "Use the left arm to hold the medium-sized bottle and shake it.", + "Grab the blue bottle with label carefully and shake.", + "Use the left arm to pick and shake the bottle for liquids.", + "Grab the plastic bottle and shake it steadily.", + "Secure the medium bottle for beverages, shake it, and place it down.", + "Grasp the medium bottle for beverages with the left arm and shake it.", + "Grab the cylindrical bottle with the left arm and shake.", + "Grab the smooth plastic bottle and move it to shake.", + "Use the left arm to lift and shake the white bottle with blue accents.", + "Hold the bottle for liquids with the left arm and shake lightly.", + "Pick the medium-sized bottle and perform shaking motion.", + "Secure the smooth plastic bottle and perform a shake.", + "Utilize the left arm to hold the bottle for liquids and shake it.", + "Hold and shake the the medium-sized bottle carefully.", + "Pick the white bottle with blue accents up with the left arm and shake.", + "Pick up the cylindrical bottle and shake it well.", + "Shake the medium bottle for beverages after grabbing it.", + "Use the left arm to lift and shake the medium-sized bottle.", + "Catch the medium bottle for beverages and shake it instantly.", + "Hold the white and blue bottle and shake it properly.", + "Lift up the smooth plastic bottle using the left arm, then shake.", + "Grip the medium bottle for beverages using the left arm and shake.", + "Shake the medium-sized bottle using the left arm after grabbing.", + "Shake the bottle for liquids after holding it firmly.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to lift and shake the bottle for liquids.", + "Pick up the smooth plastic bottle and shake it." + ], + "unseen": [ + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with curved neck design with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the blue-capped plastic bottle.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with curved neck design and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with ridged neck with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the blue-capped plastic bottle, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the bottle with curved neck design after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the blue-capped plastic bottle and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the blue-capped plastic bottle and shake it.", + "Grab the bottle with ridged neck and give it a shake.", + "Pick up the bottle with ridged neck with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the blue-capped plastic bottle and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the blue-capped plastic bottle and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the blue-capped plastic bottle with the left arm.", + "Use the left arm to pick the bottle with curved neck design.", + "Grab the bottle with ridged neck, shake it properly, then set it down.", + "Pick up the bottle with ridged neck and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with curved neck design and shake it.", + "Shake the bottle with ridged neck after picking it with the left arm.", + "Grab the bottle with ridged neck and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm.", + "Use the left arm to pick the bottle with ridged neck.", + "Grab the bottle with curved neck design, shake it properly, then set it down.", + "Pick up the bottle with curved neck design and shake it.", + "Use the left arm to grab the bottle with ridged neck and shake.", + "Pick up the bottle with ridged neck and shake it.", + "Shake the blue-capped plastic bottle after picking it with the left arm.", + "Grab the bottle with curved neck design and shake it.", + "Grab the bottle with curved neck design and give it a shake.", + "Pick up the blue-capped plastic bottle with the left arm and shake.", + "Pick and shake the the bottle with curved neck design with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode94.json b/shake_bottle/ur5_randomized_500/instructions/episode94.json new file mode 100644 index 0000000000000000000000000000000000000000..648883dc5111ba12fc52df59ad48e2874c9d130e --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode94.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the plastic bottle with printed label using the right arm.", + "Shake the bottle with brown body and white top after grabbing it.", + "Use the right arm to pick and shake the handheld brown bottle with white lid.", + "Secure the bottle with brown body and white top and perform a shake.", + "Use the right arm to hold the rounded bottle with printed details and shake it.", + "Pick the bottle with brown body and white top and perform shaking motion.", + "Take the smooth brown bottle using the right arm and give it a shake.", + "Lift the medium bottle with smooth texture with the right arm and shake it.", + "Lift up the handheld brown bottle with white lid using the right arm, then shake.", + "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.", + "Hold the white-capped brown cylindrical bottle steady, then shake it.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Hold the bottle with brown body and white top, shake it briefly.", + "Shake the medium plastic bottle after grabbing it.", + "Pick up the plastic bottle for liquids and shake it well.", + "Grip the smooth brown bottle using the right arm and shake.", + "Catch the plastic bottle for liquids and shake it instantly.", + "Grab the medium plastic bottle and shake it steadily.", + "Grab the medium bottle with smooth texture firmly, shake it, and put it down.", + "Shake the white-capped brown cylindrical bottle using the right arm after grabbing.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Shake the rounded bottle with printed details after holding it firmly.", + "Grasp the handheld brown bottle with white lid with the right arm and shake it.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "With the right arm, pick the plastic bottle with printed label and shake properly.", + "Shake the the cylindrical bottle with narrow neck properly after lifting.", + "Pick the handheld brown bottle with white lid up with the right arm and shake.", + "Grab the bottle with dark brown color carefully and shake.", + "Shake the bottle with dark brown color after grabbing it.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Hold the bottle with dark brown color and shake it properly.", + "Pick the rounded bottle with printed details, shake it with the right arm.", + "Shake the bottle with dark brown color after lifting it.", + "Lift the white-capped brown cylindrical bottle with the right arm and shake.", + "Lift the plastic bottle for liquids and shake it thoroughly.", + "Grab the bottle with dark brown color using the right arm, then shake.", + "Use the right arm to lift and shake the medium bottle with smooth texture.", + "Hold the white-capped brown cylindrical bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the medium plastic bottle and shake it.", + "Use the right arm to lift and shake the handheld brown bottle with white lid.", + "Use the right arm to grab the rounded bottle with printed details and shake it.", + "Grab the smooth brown bottle and move it to shake.", + "Hold and shake the the bottle with dark brown color carefully.", + "Grab the cylindrical bottle with narrow neck and give it a shake.", + "Lift the handheld brown bottle with white lid and shake it gently.", + "Pick up the cylindrical bottle with narrow neck and shake it.", + "Use the right arm to grab the rounded bottle with printed details and shake properly.", + "Grab the bottle with white cap with the right arm and shake.", + "Secure the plastic bottle with printed label, shake it, and place it down.", + "Pick the smooth brown bottle up using the right arm and shake it.", + "Grab and shake the bottle with brown body and white top using the right arm.", + "Shake the bottle with brown body and white top after grabbing it.", + "Use the right arm to pick and shake the medium bottle with smooth texture.", + "Secure the plastic bottle with printed label and perform a shake.", + "Use the right arm to hold the bottle with dark brown color and shake it.", + "Pick the handheld brown bottle with white lid and perform shaking motion.", + "Take the smooth brown bottle using the right arm and give it a shake.", + "Lift the handheld brown bottle with white lid with the right arm and shake it.", + "Lift up the cylindrical bottle with narrow neck using the right arm, then shake.", + "Lift the plastic bottle with printed label with the right arm and give it a shake.", + "Hold the rounded bottle with printed details steady, then shake it.", + "Using the right arm, shake the medium bottle with smooth texture and then place it back.", + "Hold the bottle with dark brown color, shake it briefly.", + "Shake the handheld brown bottle with white lid after grabbing it.", + "Pick up the bottle with white cap and shake it well.", + "Grip the medium bottle with smooth texture using the right arm and shake.", + "Catch the bottle with dark brown color and shake it instantly.", + "Grab the medium bottle with smooth texture and shake it steadily.", + "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.", + "Shake the bottle with brown body and white top using the right arm after grabbing.", + "Shake the plastic bottle with printed label firmly after grabbing.", + "Shake the bottle with brown body and white top after holding it firmly.", + "Grasp the medium bottle with smooth texture with the right arm and shake it.", + "Shake the bottle with brown body and white top thoroughly after grabbing it.", + "With the right arm, pick the plastic bottle with printed label and shake properly.", + "Shake the the smooth brown bottle properly after lifting.", + "Pick the handheld brown bottle with white lid up with the right arm and shake.", + "Grab the plastic bottle for liquids carefully and shake.", + "Shake the white-capped brown cylindrical bottle after grabbing it.", + "Use the right arm to lift and shake the cylindrical bottle with narrow neck.", + "Hold the handheld brown bottle with white lid and shake it properly.", + "Pick the bottle with brown body and white top, shake it with the right arm.", + "Shake the cylindrical bottle with narrow neck after lifting it.", + "Lift the handheld brown bottle with white lid with the right arm and shake.", + "Lift the cylindrical bottle with narrow neck and shake it thoroughly.", + "Grab the white-capped brown cylindrical bottle using the right arm, then shake.", + "Use the right arm to lift and shake the white-capped brown cylindrical bottle.", + "Hold the smooth brown bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the cylindrical bottle with narrow neck and shake it.", + "Use the right arm to lift and shake the plastic bottle for liquids.", + "Use the right arm to grab the medium plastic bottle and shake it.", + "Grab the bottle with white cap and move it to shake.", + "Hold and shake the the plastic bottle for liquids carefully.", + "Grab the medium bottle with smooth texture and give it a shake.", + "Lift the cylindrical bottle with narrow neck and shake it gently.", + "Pick up the handheld brown bottle with white lid and shake it.", + "Use the right arm to grab the bottle with dark brown color and shake properly.", + "Grab the medium bottle with smooth texture with the right arm and shake.", + "Secure the plastic bottle for liquids, shake it, and place it down.", + "Pick the cylindrical bottle with narrow neck up using the right arm and shake it." + ], + "unseen": [ + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown cylindrical bottle with label and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the lightweight plastic brown bottle and give it a shake.", + "Use the right arm to pick the lightweight plastic brown bottle.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the lightweight plastic brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown cylindrical bottle with label, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown cylindrical bottle with label.", + "Pick up the brown cylindrical bottle with label with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the lightweight plastic brown bottle, shake it properly, then set it down.", + "Pick up the brown cylindrical bottle with label and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the lightweight plastic brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown cylindrical bottle with label after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the brown cylindrical bottle with label with the right arm.", + "Use the right arm to grab the lightweight plastic brown bottle and shake.", + "Grab the brown cylindrical bottle with label and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown cylindrical bottle with label and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Shake the lightweight plastic brown bottle after picking it with the right arm.", + "Pick up the lightweight plastic brown bottle and shake it.", + "Pick and shake the the lightweight plastic brown bottle with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode95.json b/shake_bottle/ur5_randomized_500/instructions/episode95.json new file mode 100644 index 0000000000000000000000000000000000000000..f6de12ab7b0d6fe81447cd0deca9cdb3f4a162b8 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode95.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the gray bottle with slight shine and shake it.", + "Use the left arm to lift and shake the light gray colored container bottle.", + "Pick the milk-bottle shape design and perform shaking motion.", + "Use the left arm to pick and shake the gray bottle with slight shine.", + "Secure the hand-sized bottle with screw cap, shake it, and place it down.", + "Lift the light gray colored container bottle and shake it thoroughly.", + "Shake the the medium-sized plastic bottle properly after lifting.", + "Grab the medium cylinder-shaped bottle using the left arm, then shake.", + "Pick the smooth surface bottle with gray shade up using the left arm and shake it.", + "Shake the medium cylinder-shaped bottle after holding it firmly.", + "Pick up the medium cylinder-shaped bottle and shake it.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Hold the smooth surface bottle with gray shade with the left arm and shake lightly.", + "Grab the bottle shaped like small cylinder carefully and shake.", + "Grab the rounded body bottle made of plastic and give it a shake.", + "Shake the gray bottle with slight shine after grabbing it.", + "Grab the gray bottle with slight shine and move it to shake.", + "Secure the light gray colored container bottle and perform a shake.", + "Shake the smooth cylindrical bottle after grabbing it.", + "Use the left arm to grab the medium-sized plastic bottle and shake it.", + "Lift the medium cylinder-shaped bottle with the left arm and give it a shake.", + "Using the left arm, shake the rounded body bottle made of plastic and then place it back.", + "Use the left arm to lift and shake the bottle shaped like small cylinder.", + "Utilize the left arm to hold the milk-bottle shape design and shake it.", + "Grab the smooth surface bottle with gray shade and shake it steadily.", + "Lift up the smooth surface bottle with gray shade using the left arm, then shake.", + "Shake the medium-sized plastic bottle after grabbing it.", + "Shake the medium-sized plastic bottle firmly after grabbing.", + "Grasp the medium-sized plastic bottle with the left arm and shake it.", + "Lift the plastic bottle with ghost print with the left arm and shake.", + "Grip the gray bottle with slight shine using the left arm and shake.", + "Grab and shake the smooth surface bottle with gray shade using the left arm.", + "Catch the plastic bottle with ghost print and shake it instantly.", + "Lift the smooth cylindrical bottle and shake it gently.", + "Grab the hand-sized bottle with screw cap firmly, shake it, and put it down.", + "Grab the smooth surface bottle with gray shade with the left arm and shake.", + "Use the left arm to grab the plastic bottle with ghost print and shake properly.", + "Pick the light gray colored container bottle, shake it with the left arm.", + "Hold the hand-sized bottle with screw cap steady, then shake it.", + "Pick up the gray bottle with slight shine and shake it well.", + "Take the gray bottle with slight shine using the left arm and give it a shake.", + "Hold the bottle shaped like small cylinder, shake it briefly.", + "Hold the plastic bottle with ghost print and shake it properly.", + "Pick the rounded body bottle made of plastic up with the left arm and shake.", + "Shake the plastic bottle with ghost print using the left arm after grabbing.", + "Shake the bottle shaped like small cylinder thoroughly after grabbing it.", + "Lift the medium-sized plastic bottle with the left arm and shake it.", + "With the left arm, pick the plastic bottle with ghost print and shake properly.", + "Shake the light gray colored container bottle after lifting it.", + "Hold and shake the the plastic bottle with ghost print carefully.", + "Use the left arm to hold the light gray colored container bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle with ghost print.", + "Pick the smooth surface bottle with gray shade and perform shaking motion.", + "Use the left arm to pick and shake the hand-sized bottle with screw cap.", + "Secure the gray bottle with slight shine, shake it, and place it down.", + "Lift the smooth cylindrical bottle and shake it thoroughly.", + "Shake the the bottle shaped like small cylinder properly after lifting.", + "Grab the bottle shaped like small cylinder using the left arm, then shake.", + "Pick the hand-sized bottle with screw cap up using the left arm and shake it.", + "Shake the medium-sized plastic bottle after holding it firmly.", + "Pick up the milk-bottle shape design and shake it.", + "Use the left arm to lift and shake the bottle with cute ghost drawing.", + "Hold the gray bottle with slight shine with the left arm and shake lightly.", + "Grab the milk-bottle shape design carefully and shake.", + "Grab the milk-bottle shape design and give it a shake.", + "Shake the gray bottle with slight shine after grabbing it.", + "Grab the smooth surface bottle with gray shade and move it to shake.", + "Secure the milk-bottle shape design and perform a shake.", + "Shake the hand-sized bottle with screw cap after grabbing it.", + "Use the left arm to grab the hand-sized bottle with screw cap and shake it.", + "Lift the smooth cylindrical bottle with the left arm and give it a shake.", + "Using the left arm, shake the rounded body bottle made of plastic and then place it back.", + "Use the left arm to lift and shake the rounded body bottle made of plastic.", + "Utilize the left arm to hold the medium-sized plastic bottle and shake it.", + "Grab the medium-sized plastic bottle and shake it steadily.", + "Lift up the medium-sized plastic bottle using the left arm, then shake.", + "Shake the medium cylinder-shaped bottle after grabbing it.", + "Shake the medium-sized plastic bottle firmly after grabbing.", + "Grasp the rounded body bottle made of plastic with the left arm and shake it.", + "Lift the medium-sized plastic bottle with the left arm and shake.", + "Grip the milk-bottle shape design using the left arm and shake.", + "Grab and shake the milk-bottle shape design using the left arm.", + "Catch the light gray colored container bottle and shake it instantly.", + "Lift the smooth surface bottle with gray shade and shake it gently.", + "Grab the medium-sized plastic bottle firmly, shake it, and put it down.", + "Grab the light gray colored container bottle with the left arm and shake.", + "Use the left arm to grab the medium cylinder-shaped bottle and shake properly.", + "Pick the smooth cylindrical bottle, shake it with the left arm.", + "Hold the medium-sized plastic bottle steady, then shake it.", + "Pick up the gray bottle with slight shine and shake it well.", + "Take the bottle with cute ghost drawing using the left arm and give it a shake.", + "Hold the rounded body bottle made of plastic, shake it briefly.", + "Hold the rounded body bottle made of plastic and shake it properly.", + "Pick the gray bottle with slight shine up with the left arm and shake.", + "Shake the hand-sized bottle with screw cap using the left arm after grabbing.", + "Shake the light gray colored container bottle thoroughly after grabbing it.", + "Lift the bottle shaped like small cylinder with the left arm and shake it.", + "With the left arm, pick the medium-sized plastic bottle and shake properly.", + "Shake the bottle shaped like small cylinder after lifting it.", + "Hold and shake the the plastic bottle with ghost print carefully." + ], + "unseen": [ + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Grab the light gray bottle and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Grab the light gray bottle and shake it.", + "Use the left arm to grab the light gray bottle and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Grab the light gray bottle and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the gray bottle for holding drinks.", + "Pick up the light gray bottle and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the bottle with rounded cap top and give it a shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the bottle with rounded cap top with the left arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the light gray bottle and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Grab the gray bottle for holding drinks, shake it properly, then set it down.", + "Shake the bottle with rounded cap top after picking it with the left arm.", + "Pick up the gray bottle for holding drinks with the left arm and shake.", + "Grab the light gray bottle and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the bottle with rounded cap top and shake it.", + "Pick and shake the the light gray bottle with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Grab the bottle with rounded cap top, shake it properly, then set it down.", + "Shake the light gray bottle after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Grab the gray bottle for holding drinks and shake it.", + "Use the left arm to grab the bottle with rounded cap top and shake.", + "Pick up the gray bottle for holding drinks and shake it.", + "Use the left arm to pick the bottle with rounded cap top.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the gray bottle for holding drinks with the left arm.", + "Grab the gray bottle for holding drinks and give it a shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm.", + "Pick up the light gray bottle with the left arm and shake.", + "Grab the bottle with rounded cap top and shake it.", + "Use the left arm to grab the gray bottle for holding drinks and shake.", + "Pick up the bottle with rounded cap top and shake it.", + "Use the left arm to pick the light gray bottle.", + "Pick up the gray bottle for holding drinks and shake it.", + "Pick and shake the the bottle with rounded cap top with the left arm.", + "Grab the light gray bottle and give it a shake.", + "Grab the light gray bottle, shake it properly, then set it down.", + "Shake the gray bottle for holding drinks after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode96.json b/shake_bottle/ur5_randomized_500/instructions/episode96.json new file mode 100644 index 0000000000000000000000000000000000000000..21a3487eb25e1421843a481e6cbc8c13306eaafb --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode96.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with yellow cap and shake it steadily.", + "Shake the plastic bottle after grabbing it.", + "With the right arm, pick the green bottle with black text label and shake properly.", + "Grab the handheld plastic bottle and give it a shake.", + "Lift the cylindrical liquid bottle with yellow top with the right arm and give it a shake.", + "Hold and shake the the green bottle with white label carefully.", + "Shake the the green bottle with black text label properly after lifting.", + "Secure the bottle with glossy plastic finish and perform a shake.", + "Pick the medium bottle with green body, shake it with the right arm.", + "Hold the cylindrical bottle with rounded cap with the right arm and shake lightly.", + "Use the right arm to lift and shake the smooth green and yellow bottle.", + "Pick the green bottle with black text label up using the right arm and shake it.", + "Shake the plastic bottle with colored label after holding it firmly.", + "Pick the green bottle and perform shaking motion.", + "Use the right arm to grab the bottle with glossy plastic finish and shake it.", + "Shake the bottle with yellow cap firmly after grabbing.", + "Use the right arm to lift and shake the green bottle with white label.", + "Grab the handheld plastic bottle using the right arm, then shake.", + "Shake the cylindrical bottle with rounded cap using the right arm after grabbing.", + "Use the right arm to pick and shake the handheld plastic bottle.", + "Shake the medium bottle with green body after lifting it.", + "Lift the green bottle and shake it gently.", + "Using the right arm, shake the medium bottle with green body and then place it back.", + "Secure the medium bottle with green body, shake it, and place it down.", + "Shake the green bottle after grabbing it.", + "Grab the bottle with yellow cap with the right arm and shake.", + "Use the right arm to grab the green bottle and shake properly.", + "Catch the plastic bottle with colored label and shake it instantly.", + "Take the smooth green and yellow bottle using the right arm and give it a shake.", + "Grip the cylindrical bottle with rounded cap using the right arm and shake.", + "Pick up the handheld plastic bottle and shake it well.", + "Hold the green bottle steady, then shake it.", + "Shake the green bottle with black text label after grabbing it.", + "Lift the medium bottle with green body with the right arm and shake.", + "Grab the smooth green and yellow bottle firmly, shake it, and put it down.", + "Hold the plastic bottle and shake it properly.", + "Grab the cylindrical bottle with rounded cap carefully and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Use the right arm to hold the cylindrical bottle with rounded cap and shake it.", + "Grab and shake the green bottle with black text label using the right arm.", + "Pick the medium bottle with green body up with the right arm and shake.", + "Grab the handheld plastic bottle and move it to shake.", + "Lift the green bottle with the right arm and shake it.", + "Lift up the plastic bottle with colored label using the right arm, then shake.", + "Grasp the medium bottle with green body with the right arm and shake it.", + "Shake the plastic bottle with colored label thoroughly after grabbing it.", + "Use the right arm to lift and shake the green bottle.", + "Hold the medium bottle with green body, shake it briefly.", + "Utilize the right arm to hold the cylindrical bottle with rounded cap and shake it.", + "Pick up the green bottle and shake it.", + "Grab the plastic bottle with colored label and shake it steadily.", + "Shake the smooth green and yellow bottle after grabbing it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Grab the handheld plastic bottle and give it a shake.", + "Lift the smooth green and yellow bottle with the right arm and give it a shake.", + "Hold and shake the the bottle with glossy plastic finish carefully.", + "Shake the the green bottle with white label properly after lifting.", + "Secure the green bottle with white label and perform a shake.", + "Pick the smooth green and yellow bottle, shake it with the right arm.", + "Hold the plastic bottle with colored label with the right arm and shake lightly.", + "Use the right arm to lift and shake the cylindrical bottle with rounded cap.", + "Pick the smooth green and yellow bottle up using the right arm and shake it.", + "Shake the bottle with yellow cap after holding it firmly.", + "Pick the handheld plastic bottle and perform shaking motion.", + "Use the right arm to grab the smooth green and yellow bottle and shake it.", + "Shake the handheld plastic bottle firmly after grabbing.", + "Use the right arm to lift and shake the green bottle with black text label.", + "Grab the green bottle using the right arm, then shake.", + "Shake the green bottle with black text label using the right arm after grabbing.", + "Use the right arm to pick and shake the cylindrical liquid bottle with yellow top.", + "Shake the smooth green and yellow bottle after lifting it.", + "Lift the green bottle and shake it gently.", + "Using the right arm, shake the smooth green and yellow bottle and then place it back.", + "Secure the bottle with yellow cap, shake it, and place it down.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Grab the handheld plastic bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with black text label and shake properly.", + "Catch the handheld plastic bottle and shake it instantly.", + "Take the handheld plastic bottle using the right arm and give it a shake.", + "Grip the green bottle using the right arm and shake.", + "Pick up the cylindrical liquid bottle with yellow top and shake it well.", + "Hold the medium bottle with green body steady, then shake it.", + "Shake the cylindrical liquid bottle with yellow top after grabbing it.", + "Lift the green bottle with black text label with the right arm and shake.", + "Grab the cylindrical bottle with rounded cap firmly, shake it, and put it down.", + "Hold the cylindrical bottle with rounded cap and shake it properly.", + "Grab the cylindrical bottle with rounded cap carefully and shake.", + "Lift the medium bottle with green body and shake it thoroughly.", + "Use the right arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Grab and shake the bottle with yellow cap using the right arm.", + "Pick the smooth green and yellow bottle up with the right arm and shake.", + "Grab the green bottle with white label and move it to shake.", + "Lift the handheld plastic bottle with the right arm and shake it.", + "Lift up the cylindrical liquid bottle with yellow top using the right arm, then shake.", + "Grasp the medium bottle with green body with the right arm and shake it.", + "Shake the bottle with glossy plastic finish thoroughly after grabbing it.", + "Use the right arm to lift and shake the green bottle with white label.", + "Hold the green bottle with black text label, shake it briefly.", + "Utilize the right arm to hold the cylindrical liquid bottle with yellow top and shake it.", + "Pick up the smooth green and yellow bottle and shake it." + ], + "unseen": [ + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the yellow-capped bottle with smooth surface, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the medium-sized drink bottle after picking it with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Use the right arm to grab the yellow-capped bottle with smooth surface and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the bottle with green base and black prints and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the yellow-capped bottle with smooth surface and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Use the right arm to pick the medium-sized drink bottle.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the bottle with green base and black prints with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick and shake the the bottle with green base and black prints with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the medium-sized drink bottle and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the bottle with green base and black prints and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the yellow-capped bottle with smooth surface after picking it with the right arm.", + "Use the right arm to pick the bottle with green base and black prints.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm.", + "Grab the medium-sized drink bottle and shake it.", + "Use the right arm to grab the medium-sized drink bottle and shake.", + "Pick up the medium-sized drink bottle with the right arm and shake.", + "Grab the bottle with green base and black prints and give it a shake.", + "Grab the bottle with green base and black prints, shake it properly, then set it down.", + "Pick up the medium-sized drink bottle and shake it.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick and shake the the medium-sized drink bottle with the right arm.", + "Grab the bottle with green base and black prints and shake it.", + "Use the right arm to grab the bottle with green base and black prints and shake.", + "Pick up the yellow-capped bottle with smooth surface with the right arm and shake.", + "Grab the yellow-capped bottle with smooth surface and give it a shake.", + "Grab the medium-sized drink bottle, shake it properly, then set it down.", + "Pick up the yellow-capped bottle with smooth surface and shake it.", + "Pick up the medium-sized drink bottle and shake it.", + "Shake the bottle with green base and black prints after picking it with the right arm.", + "Use the right arm to pick the yellow-capped bottle with smooth surface.", + "Pick and shake the the yellow-capped bottle with smooth surface with the right arm." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode97.json b/shake_bottle/ur5_randomized_500/instructions/episode97.json new file mode 100644 index 0000000000000000000000000000000000000000..a022782f352aa57bc22ec31f7a674494035d4c55 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode97.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the orange and white bottle with cap carefully.", + "Use the left arm to lift and shake the bottle with orange cap.", + "Hold the plastic bottle and shake it properly.", + "Pick the bottle with ribbed orange bottom and perform shaking motion.", + "Pick the medium bottle with orange lid up with the left arm and shake.", + "Hold the orange bottle with the left arm and shake lightly.", + "Pick up the medium bottle with orange lid and shake it.", + "Utilize the left arm to hold the drinking bottle with yellow label and shake it.", + "Grab the white and orange plastic bottle using the left arm, then shake.", + "Pick up the yellow label bottle and shake it well.", + "Use the left arm to pick and shake the medium bottle with orange lid.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Lift the medium bottle with orange lid with the left arm and shake.", + "Grab the yellow label bottle and shake it steadily.", + "Shake the orange and white bottle with cap using the left arm after grabbing.", + "Grab the white and orange plastic bottle carefully and shake.", + "Use the left arm to hold the cylindrical orange and white bottle and shake it.", + "Using the left arm, shake the yellow label bottle and then place it back.", + "Use the left arm to lift and shake the yellow label bottle.", + "Grab the plastic bottle with the left arm and shake.", + "Shake the medium bottle with orange lid after holding it firmly.", + "Grip the bottle with orange cap using the left arm and shake.", + "With the left arm, pick the bottle with ribbed orange bottom and shake properly.", + "Use the left arm to grab the cylindrical orange and white bottle and shake it.", + "Lift the medium bottle with orange lid and shake it thoroughly.", + "Hold the orange bottle, shake it briefly.", + "Grasp the bottle with orange cap with the left arm and shake it.", + "Secure the medium orange bottle, shake it, and place it down.", + "Take the orange bottle using the left arm and give it a shake.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Lift the smooth plastic bottle with the left arm and shake it.", + "Hold the orange and white bottle with cap steady, then shake it.", + "Pick the orange and white bottle with cap, shake it with the left arm.", + "Grab the medium orange bottle and move it to shake.", + "Shake the medium bottle with orange lid after grabbing it.", + "Lift the medium bottle with orange lid and shake it gently.", + "Lift the yellow label bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the yellow label bottle.", + "Pick the bottle with orange cap up using the left arm and shake it.", + "Shake the white and orange plastic bottle after grabbing it.", + "Shake the medium orange bottle thoroughly after grabbing it.", + "Grab the yellow label bottle and give it a shake.", + "Shake the medium orange bottle after grabbing it.", + "Shake the smooth plastic bottle firmly after grabbing.", + "Secure the orange bottle and perform a shake.", + "Lift up the yellow label bottle using the left arm, then shake.", + "Grab and shake the bottle with orange cap using the left arm.", + "Shake the the cylindrical orange and white bottle properly after lifting.", + "Use the left arm to grab the bottle with orange cap and shake properly.", + "Shake the orange bottle after lifting it.", + "Hold and shake the the smooth plastic bottle carefully.", + "Use the left arm to lift and shake the medium orange bottle.", + "Hold the bottle with ribbed orange bottom and shake it properly.", + "Pick the cylindrical orange and white bottle and perform shaking motion.", + "Pick the orange and white bottle with cap up with the left arm and shake.", + "Hold the bottle with ribbed orange bottom with the left arm and shake lightly.", + "Pick up the smooth plastic bottle and shake it.", + "Utilize the left arm to hold the bottle with orange cap and shake it.", + "Grab the cylindrical orange and white bottle using the left arm, then shake.", + "Pick up the yellow label bottle and shake it well.", + "Use the left arm to pick and shake the smooth plastic bottle.", + "Grab the yellow label bottle firmly, shake it, and put it down.", + "Lift the cylindrical orange and white bottle with the left arm and shake.", + "Grab the orange bottle and shake it steadily.", + "Shake the smooth plastic bottle using the left arm after grabbing.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to hold the orange and white bottle with cap and shake it.", + "Using the left arm, shake the cylindrical orange and white bottle and then place it back.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "Grab the medium orange bottle with the left arm and shake.", + "Shake the bottle with ribbed orange bottom after holding it firmly.", + "Grip the cylindrical orange and white bottle using the left arm and shake.", + "With the left arm, pick the medium orange bottle and shake properly.", + "Use the left arm to grab the orange and white bottle with cap and shake it.", + "Lift the orange and white bottle with cap and shake it thoroughly.", + "Hold the bottle with ribbed orange bottom, shake it briefly.", + "Grasp the smooth plastic bottle with the left arm and shake it.", + "Secure the smooth plastic bottle, shake it, and place it down.", + "Take the orange bottle using the left arm and give it a shake.", + "Catch the medium bottle with orange lid and shake it instantly.", + "Lift the medium bottle with orange lid with the left arm and shake it.", + "Hold the medium orange bottle steady, then shake it.", + "Pick the smooth plastic bottle, shake it with the left arm.", + "Grab the bottle with ribbed orange bottom and move it to shake.", + "Shake the cylindrical orange and white bottle after grabbing it.", + "Lift the white and orange plastic bottle and shake it gently.", + "Lift the bottle with orange cap with the left arm and give it a shake.", + "Use the left arm to lift and shake the drinking bottle with yellow label.", + "Pick the orange bottle up using the left arm and shake it.", + "Shake the white and orange plastic bottle after grabbing it.", + "Shake the bottle with orange cap thoroughly after grabbing it.", + "Grab the cylindrical orange and white bottle and give it a shake.", + "Shake the smooth plastic bottle after grabbing it.", + "Shake the yellow label bottle firmly after grabbing.", + "Secure the smooth plastic bottle and perform a shake.", + "Lift up the bottle with ribbed orange bottom using the left arm, then shake.", + "Grab and shake the plastic bottle using the left arm.", + "Shake the the smooth plastic bottle properly after lifting.", + "Use the left arm to grab the drinking bottle with yellow label and shake properly.", + "Shake the white and orange plastic bottle after lifting it." + ], + "unseen": [ + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Use the left arm to pick the bottle with yellow sticker label.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the curvy orange bottle with white section after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the curvy orange bottle with white section and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the curvy orange bottle with white section with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with curved body with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body and shake it.", + "Grab the bottle with curved body and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the bottle with curved body and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the curvy orange bottle with white section and shake it.", + "Grab the curvy orange bottle with white section, shake it properly, then set it down.", + "Shake the bottle with yellow sticker label after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Use the left arm to pick the bottle with curved body.", + "Grab the bottle with yellow sticker label and shake it.", + "Grab the bottle with yellow sticker label and give it a shake.", + "Pick and shake the the bottle with yellow sticker label with the left arm.", + "Pick up the curvy orange bottle with white section and shake it.", + "Pick up the bottle with yellow sticker label with the left arm and shake.", + "Pick up the bottle with yellow sticker label and shake it.", + "Grab the bottle with curved body, shake it properly, then set it down.", + "Shake the bottle with curved body after picking it with the left arm.", + "Use the left arm to grab the bottle with yellow sticker label and shake.", + "Use the left arm to pick the curvy orange bottle with white section.", + "Grab the bottle with curved body and shake it.", + "Grab the curvy orange bottle with white section and give it a shake.", + "Pick and shake the the bottle with curved body with the left arm.", + "Pick up the bottle with yellow sticker label and shake it.", + "Pick up the curvy orange bottle with white section with the left arm and shake.", + "Pick up the bottle with curved body and shake it.", + "Grab the bottle with yellow sticker label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode98.json b/shake_bottle/ur5_randomized_500/instructions/episode98.json new file mode 100644 index 0000000000000000000000000000000000000000..4d4de2c307c204c045820c53e283debf98da8c6f --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode98.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium bottle with glossy surface and shake it steadily.", + "Pick the smooth brown bottle with green label, shake it with the left arm.", + "Pick the bottle with flat sides and logo up with the left arm and shake.", + "Grab the rectangular-shaped bottle with round cap using the left arm, then shake.", + "Shake the bottle with flat sides and logo after grabbing it.", + "Hold the bottle with flat sides and logo steady, then shake it.", + "Secure the rectangular-shaped bottle with round cap and perform a shake.", + "Grab and shake the smooth plastic bottle with white cap using the left arm.", + "Grab the bottle with green cap with the left arm and shake.", + "Shake the smooth brown bottle with green label firmly after grabbing.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Shake the bottle with green cap after lifting it.", + "Using the left arm, shake the brown bottle with rounded rectangular shape and then place it back.", + "Grab the rectangular-shaped bottle with round cap and move it to shake.", + "Use the left arm to lift and shake the bottle with green cap.", + "Pick the brown bottle with rounded rectangular shape up using the left arm and shake it.", + "Lift the smooth brown bottle with green label with the left arm and give it a shake.", + "Lift the bottle with green cap with the left arm and shake.", + "Utilize the left arm to hold the bottle with green cap and shake it.", + "Grab the rectangular brown body with white top firmly, shake it, and put it down.", + "Hold the rectangular-shaped bottle with round cap and shake it properly.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Pick up the smooth plastic bottle with white cap and shake it.", + "Lift up the rectangular brown body with white top using the left arm, then shake.", + "Use the left arm to grab the smooth plastic bottle with white cap and shake it.", + "Grab the plastic bottle and give it a shake.", + "Shake the the medium-sized brown plastic bottle properly after lifting.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Hold and shake the the brown bottle carefully.", + "Take the medium-sized brown plastic bottle using the left arm and give it a shake.", + "Shake the brown bottle after grabbing it.", + "Use the left arm to pick and shake the rectangular brown body with white top.", + "Use the left arm to grab the smooth plastic bottle with white cap and shake properly.", + "Pick the brown bottle with rounded rectangular shape and perform shaking motion.", + "With the left arm, pick the rectangular-shaped bottle with round cap and shake properly.", + "Use the left arm to hold the bottle with flat sides and logo and shake it.", + "Shake the medium-sized brown plastic bottle thoroughly after grabbing it.", + "Shake the bottle with green cap using the left arm after grabbing.", + "Pick up the plastic bottle and shake it well.", + "Shake the brown bottle after grabbing it.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Grasp the plastic bottle with the left arm and shake it.", + "Lift the rectangular-shaped bottle with round cap and shake it gently.", + "Hold the plastic bottle, shake it briefly.", + "Hold the rectangular-shaped bottle with round cap with the left arm and shake lightly.", + "Shake the brown bottle with rounded rectangular shape after holding it firmly.", + "Grip the rectangular-shaped bottle with round cap using the left arm and shake.", + "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.", + "Lift the bottle with flat sides and logo with the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.", + "Grab the plastic bottle and shake it steadily.", + "Pick the brown bottle, shake it with the left arm.", + "Pick the brown bottle with rounded rectangular shape up with the left arm and shake.", + "Grab the bottle with green cap using the left arm, then shake.", + "Shake the medium bottle with glossy surface after grabbing it.", + "Hold the bottle with flat sides and logo steady, then shake it.", + "Secure the brown bottle and perform a shake.", + "Grab and shake the rectangular brown body with white top using the left arm.", + "Grab the medium-sized brown plastic bottle with the left arm and shake.", + "Shake the smooth brown bottle with green label firmly after grabbing.", + "Grab the bottle with flat sides and logo carefully and shake.", + "Shake the bottle with green cap after lifting it.", + "Using the left arm, shake the dark brown bottle with a squared body and then place it back.", + "Grab the brown bottle with rounded rectangular shape and move it to shake.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Pick the bottle with green cap up using the left arm and shake it.", + "Lift the smooth brown bottle with green label with the left arm and give it a shake.", + "Lift the brown bottle with rounded rectangular shape with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the rectangular brown body with white top firmly, shake it, and put it down.", + "Hold the bottle with green cap and shake it properly.", + "Catch the rectangular brown body with white top and shake it instantly.", + "Pick up the medium-sized brown plastic bottle and shake it.", + "Lift up the medium-sized brown plastic bottle using the left arm, then shake.", + "Use the left arm to grab the medium-sized brown plastic bottle and shake it.", + "Grab the bottle with green cap and give it a shake.", + "Shake the the brown bottle properly after lifting.", + "Lift the smooth brown bottle with green label and shake it thoroughly.", + "Hold and shake the the bottle with flat sides and logo carefully.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to pick and shake the medium bottle with glossy surface.", + "Use the left arm to grab the bottle with flat sides and logo and shake properly.", + "Pick the dark brown bottle with a squared body and perform shaking motion.", + "With the left arm, pick the rectangular-shaped bottle with round cap and shake properly.", + "Use the left arm to hold the bottle with flat sides and logo and shake it.", + "Shake the smooth brown bottle with green label thoroughly after grabbing it.", + "Shake the bottle with flat sides and logo using the left arm after grabbing.", + "Pick up the plastic bottle and shake it well.", + "Shake the rectangular brown body with white top after grabbing it.", + "Use the left arm to lift and shake the dark brown bottle with a squared body.", + "Grasp the dark brown bottle with a squared body with the left arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Hold the smooth plastic bottle with white cap, shake it briefly.", + "Hold the brown bottle with the left arm and shake lightly.", + "Shake the brown bottle after holding it firmly.", + "Grip the brown bottle with rounded rectangular shape using the left arm and shake.", + "Secure the smooth brown bottle with green label, shake it, and place it down.", + "Lift the rectangular brown body with white top with the left arm and shake it.", + "Use the left arm to lift and shake the medium bottle with glossy surface." + ], + "unseen": [ + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the bottle with green label and white lid.", + "Grab the medium-sized plastic bottle with capped top and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the liquid container dark brown plastic and shake.", + "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the liquid container dark brown plastic and shake it.", + "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.", + "Grab the liquid container dark brown plastic, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the medium-sized plastic bottle with capped top.", + "Grab the bottle with green label and white lid and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the bottle with green label and white lid with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the bottle with green label and white lid with the left arm and shake.", + "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.", + "Use the left arm to grab the bottle with green label and white lid and shake.", + "Shake the liquid container dark brown plastic after picking it with the left arm.", + "Pick up the liquid container dark brown plastic and shake it.", + "Use the left arm to pick the liquid container dark brown plastic.", + "Grab the liquid container dark brown plastic and give it a shake.", + "Grab the bottle with green label and white lid and shake it.", + "Pick and shake the the liquid container dark brown plastic with the left arm.", + "Pick up the bottle with green label and white lid and shake it.", + "Pick up the liquid container dark brown plastic with the left arm and shake.", + "Grab the bottle with green label and white lid, shake it properly, then set it down.", + "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.", + "Shake the bottle with green label and white lid after picking it with the left arm.", + "Pick up the medium-sized plastic bottle with capped top and shake it.", + "Use the left arm to pick the bottle with green label and white lid." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/instructions/episode99.json b/shake_bottle/ur5_randomized_500/instructions/episode99.json new file mode 100644 index 0000000000000000000000000000000000000000..f20811231cfa658b17326cb283c41ff23448d662 --- /dev/null +++ b/shake_bottle/ur5_randomized_500/instructions/episode99.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the bottle with white cap.", + "Hold and shake the the bottle with a smooth plastic body carefully.", + "Grab the bottle with green label with the right arm and shake.", + "Lift the bottle with a smooth plastic body with the right arm and give it a shake.", + "With the right arm, pick the bottle with green and white labels and shake properly.", + "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with a smooth plastic body.", + "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.", + "Pick the bottle with green and white labels up with the right arm and shake.", + "Hold the bottle with green and white labels steady, then shake it.", + "Grab the bottle with a smooth plastic body and give it a shake.", + "Utilize the right arm to hold the bottle with a smooth plastic body and shake it.", + "Grab the rectangular bottle with cylindrical neck using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with white cap.", + "Shake the the bottle with green and white labels properly after lifting.", + "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.", + "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.", + "Grab and shake the yellow bottle with a green design using the right arm.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Grab the yellow bottle with a green design carefully and shake.", + "Use the right arm to hold the plastic bottle and shake it.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Pick up the plastic bottle and shake it well.", + "Shake the rectangular bottle with cylindrical neck after grabbing it.", + "Pick up the rectangular bottle with cylindrical neck and shake it.", + "Lift the medium rectangular yellow bottle with the right arm and shake.", + "Shake the yellow plastic bottle with white top after grabbing it.", + "Take the smooth bottle with rounded edges using the right arm and give it a shake.", + "Pick the rectangular bottle with cylindrical neck up using the right arm and shake it.", + "Lift up the smooth bottle with rounded edges using the right arm, then shake.", + "Hold the bottle with a smooth plastic body with the right arm and shake lightly.", + "Use the right arm to grab the bottle with green label and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Grip the plastic bottle using the right arm and shake.", + "Use the right arm to pick and shake the bottle with green and white labels.", + "Shake the yellow container with rounded edges using the right arm after grabbing.", + "Pick the yellow plastic bottle with white top, shake it with the right arm.", + "Grab the yellow bottle and move it to shake.", + "Shake the yellow plastic bottle with white top after lifting it.", + "Hold the yellow bottle with a green design, shake it briefly.", + "Using the right arm, shake the yellow plastic bottle with white top and then place it back.", + "Hold the yellow bottle with a green design and shake it properly.", + "Catch the yellow plastic bottle with white top and shake it instantly.", + "Grasp the bottle with green and white labels with the right arm and shake it.", + "Secure the bottle with green label and perform a shake.", + "Use the right arm to grab the yellow bottle with a green design and shake properly.", + "Shake the medium rectangular yellow bottle firmly after grabbing.", + "Lift the yellow container with rounded edges and shake it gently.", + "Grab the plastic bottle and shake it steadily.", + "Use the right arm to lift and shake the yellow bottle.", + "Hold and shake the the bottle with white cap carefully.", + "Grab the rectangular bottle with cylindrical neck with the right arm and shake.", + "Lift the bottle with green and white labels with the right arm and give it a shake.", + "With the right arm, pick the yellow container with rounded edges and shake properly.", + "Secure the yellow container with rounded edges, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with white cap.", + "Lift the smooth bottle with rounded edges and shake it thoroughly.", + "Pick the yellow container with rounded edges up with the right arm and shake.", + "Hold the bottle with green and white labels steady, then shake it.", + "Grab the rectangular bottle with cylindrical neck and give it a shake.", + "Utilize the right arm to hold the yellow bottle with a green design and shake it.", + "Grab the bottle with white cap using the right arm, then shake.", + "Use the right arm to lift and shake the yellow bottle with a green design.", + "Shake the the yellow bottle properly after lifting.", + "Grab the yellow container with rounded edges firmly, shake it, and put it down.", + "Shake the bottle with a smooth plastic body thoroughly after grabbing it.", + "Grab and shake the bottle with a smooth plastic body using the right arm.", + "Lift the yellow plastic bottle with white top with the right arm and shake it.", + "Shake the yellow bottle after holding it firmly.", + "Grab the medium rectangular yellow bottle carefully and shake.", + "Use the right arm to hold the bottle with green and white labels and shake it.", + "Shake the bottle with green and white labels after grabbing it.", + "Pick up the plastic bottle and shake it well.", + "Shake the plastic bottle after grabbing it.", + "Pick up the yellow container with rounded edges and shake it.", + "Lift the bottle with green and white labels with the right arm and shake.", + "Shake the yellow container with rounded edges after grabbing it.", + "Take the bottle with white cap using the right arm and give it a shake.", + "Pick the bottle with green and white labels up using the right arm and shake it.", + "Lift up the yellow bottle using the right arm, then shake.", + "Hold the medium rectangular yellow bottle with the right arm and shake lightly.", + "Use the right arm to grab the bottle with green and white labels and shake it.", + "Pick the smooth bottle with rounded edges and perform shaking motion.", + "Grip the bottle with white cap using the right arm and shake.", + "Use the right arm to pick and shake the bottle with green and white labels.", + "Shake the smooth bottle with rounded edges using the right arm after grabbing.", + "Pick the plastic bottle, shake it with the right arm.", + "Grab the bottle with a smooth plastic body and move it to shake.", + "Shake the bottle with green label after lifting it.", + "Hold the bottle with a smooth plastic body, shake it briefly.", + "Using the right arm, shake the yellow bottle and then place it back.", + "Hold the bottle with green label and shake it properly.", + "Catch the smooth bottle with rounded edges and shake it instantly.", + "Grasp the rectangular bottle with cylindrical neck with the right arm and shake it.", + "Secure the yellow plastic bottle with white top and perform a shake.", + "Use the right arm to grab the medium rectangular yellow bottle and shake properly.", + "Shake the yellow plastic bottle with white top firmly after grabbing.", + "Lift the smooth bottle with rounded edges and shake it gently.", + "Grab the smooth bottle with rounded edges and shake it steadily." + ], + "unseen": [ + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the yellow bottle for liquid storage with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the hand-sized yellow plastic bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow bottle for liquid storage with the right arm and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow rectangular bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow rectangular bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the yellow rectangular bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow bottle for liquid storage after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the yellow bottle for liquid storage.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the yellow bottle for liquid storage and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow rectangular bottle and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.", + "Use the right arm to grab the yellow rectangular bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Use the right arm to pick the hand-sized yellow plastic bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the yellow bottle for liquid storage and shake.", + "Grab the yellow rectangular bottle and give it a shake.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Pick up the yellow rectangular bottle with the right arm and shake.", + "Pick and shake the the hand-sized yellow plastic bottle with the right arm.", + "Grab the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle and shake it.", + "Use the right arm to pick the yellow rectangular bottle.", + "Shake the yellow rectangular bottle after picking it with the right arm.", + "Grab the yellow bottle for liquid storage, shake it properly, then set it down.", + "Use the right arm to grab the hand-sized yellow plastic bottle and shake.", + "Grab the hand-sized yellow plastic bottle and give it a shake.", + "Pick up the yellow bottle for liquid storage and shake it.", + "Pick up the hand-sized yellow plastic bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/shake_bottle/ur5_randomized_500/scene_info.json b/shake_bottle/ur5_randomized_500/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/shake_bottle/ur5_randomized_500/seed.txt b/shake_bottle/ur5_randomized_500/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..4921bdfd6f866bba75bb3a25a715e115ccf2d6ce --- /dev/null +++ b/shake_bottle/ur5_randomized_500/seed.txt @@ -0,0 +1 @@ +1 2 3 4 5 7 8 10 13 14 16 17 20 21 22 23 25 27 28 29 30 31 35 38 39 41 43 45 46 47 49 53 55 57 59 61 63 64 66 67 69 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528 529 530 533 535 536 538 541 542 545 546 548 549 550 552 553 554 557 558 560 561 562 563 565 568 571 572 574 575 576 578 580 581 586 587 588 589 591 592 595 596 597 598 599 600 601 603 605 607 608 609 614 616 619 620 621 622 624 625 627 630 632 634 635 638 640 641 642 643 644 648 649 650 651 653 654 656 657 658 659 661 662 663 666 667 668 669 670 675 676 677 681 683 685 688 689 690 691 693 695 697 698 699 700 701 702 703 704 710 711 712 713 715 717 718 719 720 721 722 724 728 729 732 734 736 737 738 739 741 743 744 747 748 750 753 754 755 760 761 763 764 765 766 768 769 770 771 772 775 776 777 778 779 780 783 784 785 788 790 792 793 794 795 799 800 803 804 806 807 809 810 811 812 813 814 815 816 819 820 823 827 832 834 835 838 839 840 842 844 846 847 849 852 856 857 858 861 863 864 867 869 871 872 874 875 \ No newline at end of file